124
Total objective tests
32
Objectives passed
0
Objectives failed
92
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 | 44.6s | 166 warnings · 18708 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360130 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360130 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788818 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788818 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210226 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210226 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788960770.39921808 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_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 2.540615 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540615 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_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: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788960771.05112576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.64sINFOros2_control_node[2026-09-09 13:32:51.235] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-09 13:32:51.235] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983340 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983340 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215476 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215476 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020592 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020592 ms (missed cycles : 2).[0m ×2 + 7.14sINFOjoint_trajectory_controllerReceived new action goal ×3073 + 7.14sINFOjoint_trajectory_controllerAccepted new action goal ×3073 + 7.14sINFOros2_control_nodeReceived new action goal[0m ×6146 + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×6146 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624381 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624381 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019880 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019880 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893844 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893844 ms (missed cycles : 2).[0m ×2 + 10.41sWARNros2_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 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263422 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263422 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528851 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528851 ms (missed cycles : 5).[0m ×2 + 11.99sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.99sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443630 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443630 ms (missed cycles : 3).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854942 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854942 ms (missed cycles : 2).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234501 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234501 ms (missed cycles : 2).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713383 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713383 ms (missed cycles : 2).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118857 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118857 ms (missed cycles : 2).[0m ×2 + 17.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742134 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742134 ms (missed cycles : 2).[0m ×2 + 18.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 18.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 99.690629 ms (missed cycles : 60). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 99.690629 ms (missed cycles : 60).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973199 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973199 ms (missed cycles : 2).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735626 ms (missed cycles : 2). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735626 ms (missed cycles : 2).[0m ×2 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674471 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674471 ms (missed cycles : 2).[0m ×2 + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859524 ms (missed cycles : 2). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859524 ms (missed cycles : 2).[0m ×2 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385733 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385733 ms (missed cycles : 2).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786574 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786574 ms (missed cycles : 2).[0m ×2 + 25.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746156 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746156 ms (missed cycles : 3).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261460 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261460 ms (missed cycles : 2).[0m ×2 + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909129 ms (missed cycles : 2). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909129 ms (missed cycles : 2).[0m ×2 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900995 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900995 ms (missed cycles : 2).[0m ×2 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355570 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355570 ms (missed cycles : 3).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713973 ms (missed cycles : 2). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713973 ms (missed cycles : 2).[0m ×2 + 32.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258063 ms (missed cycles : 5). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258063 ms (missed cycles : 5).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808660 ms (missed cycles : 2). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808660 ms (missed cycles : 2).[0m ×2 + 34.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953600 ms (missed cycles : 4). + 34.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953600 ms (missed cycles : 4).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746767 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746767 ms (missed cycles : 2).[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817522 ms (missed cycles : 3). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817522 ms (missed cycles : 3).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693808 ms (missed cycles : 2). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693808 ms (missed cycles : 2).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697102 ms (missed cycles : 2). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697102 ms (missed cycles : 2).[0m ×2 + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780102 ms (missed cycles : 3). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780102 ms (missed cycles : 3).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686967 ms (missed cycles : 2). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686967 ms (missed cycles : 2).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751078 ms (missed cycles : 2). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751078 ms (missed cycles : 2).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684167 ms (missed cycles : 2). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684167 ms (missed cycles : 2).[0m ×2 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697174 ms (missed cycles : 2). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697174 ms (missed cycles : 2).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777556 ms (missed cycles : 3). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777556 ms (missed cycles : 3).[0m ×2 + 45.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719894 ms (missed cycles : 2). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719894 ms (missed cycles : 2).[0m ×2 + 46.46sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550769 ms (missed cycles : 2). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550769 ms (missed cycles : 2).[0m ×2 + 47.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960814.98104310 seconds ×3 + 47.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.92sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709955 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709955 ms (missed cycles : 2).[0m ×2 + 48.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788960815.60870433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.05sINFOobjective_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 + 48.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.15sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 48.17sINFOros2_control_node[2026-09-09 13:33:35.762] [info] Received new action goal ×2 + 48.17sINFOros2_control_node[2026-09-09 13:33:35.762] [info] Accepted new action goal ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555550 ms (missed cycles : 3). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555550 ms (missed cycles : 3).[0m ×2 + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760748 ms (missed cycles : 2). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760748 ms (missed cycles : 2).[0m ×2 + 51.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835310 ms (missed cycles : 2). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835310 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 7.07sINFOros2_control_node[2026-09-09 13:31:59.167] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-09-09 13:31:59.167] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962353 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962353 ms (missed cycles : 3).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760171 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760171 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604714 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604714 ms (missed cycles : 4).[0m ×2 + 10.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.38sINFOros2_control_node[2026-09-09 13:32:02.478] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-09-09 13:32:02.478] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681046 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681046 ms (missed cycles : 2).[0m ×2 + 11.77sWARNros2_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 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457809 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457809 ms (missed cycles : 4).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825671 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825671 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.42sINFOros2_control_node[2026-09-09 13:32:05.520] [info] Received new action goal ×2 + 13.42sINFOros2_control_node[2026-09-09 13:32:05.520] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057039 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057039 ms (missed cycles : 2).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778564 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778564 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999712 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999712 ms (missed cycles : 2).[0m ×2 + 16.38sINFOobjective_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 ×6 + 16.38sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675684 ms (missed cycles : 5). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675684 ms (missed cycles : 5).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242568 ms (missed cycles : 5). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242568 ms (missed cycles : 5).[0m ×2 + 18.46sWARNros2_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 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210754 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210754 ms (missed cycles : 3).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802146 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802146 ms (missed cycles : 3).[0m ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125925 ms (missed cycles : 4). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125925 ms (missed cycles : 4).[0m ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.933972 ms (missed cycles : 7). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.933972 ms (missed cycles : 7).[0m ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911658 ms (missed cycles : 3). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911658 ms (missed cycles : 3).[0m ×2 + 23.99sINFOobjective_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 + 23.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.99sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.99sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.99sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.99sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.55sWARNros2_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 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003964 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003964 ms (missed cycles : 3).[0m ×2 + 24.88sINFOros2_control_node[2026-09-09 13:32:16.981] [info] Received new action goal ×2 + 24.88sINFOros2_control_node[2026-09-09 13:32:16.981] [info] Accepted new action goal ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476050 ms (missed cycles : 3). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476050 ms (missed cycles : 3).[0m ×2 + 26.07sINFOobjective_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 + 26.08sINFOobjective_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 + 26.36sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 26.40sINFOros2_control_node[2026-09-09 13:32:18.505] [info] Received new action goal ×2 + 26.40sINFOros2_control_node[2026-09-09 13:32:18.505] [info] Accepted new action goal ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520011 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520011 ms (missed cycles : 3).[0m ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290445 ms (missed cycles : 5). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290445 ms (missed cycles : 5).[0m ×2 + 28.69sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 28.70sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.71sINFOros2_control_node[2026-09-09 13:32:20.812] [info] Received new action goal ×2 + 28.71sINFOros2_control_node[2026-09-09 13:32:20.812] [info] Accepted new action goal ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.453702 ms (missed cycles : 6). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.453702 ms (missed cycles : 6).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404217 ms (missed cycles : 3). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404217 ms (missed cycles : 3).[0m ×2 + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914867 ms (missed cycles : 3). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914867 ms (missed cycles : 3).[0m ×2 + 31.88sINFOros2_control_node[2026-09-09 13:32:23.973] [info] Received new action goal ×2 + 31.88sINFOros2_control_node[2026-09-09 13:32:23.973] [info] Accepted new action goal ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633441 ms (missed cycles : 4). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633441 ms (missed cycles : 4).[0m ×2 + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940263 ms (missed cycles : 4). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940263 ms (missed cycles : 4).[0m ×2 + 34.47sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 34.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.52sINFOros2_control_node[2026-09-09 13:32:26.626] [info] Received new action goal ×2 + 34.53sINFOros2_control_node[2026-09-09 13:32:26.626] [info] Accepted new action goal ×2 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668863 ms (missed cycles : 2). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668863 ms (missed cycles : 2).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767199 ms (missed cycles : 5). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767199 ms (missed cycles : 5).[0m ×2 + 36.67sWARNros2_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 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671964 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671964 ms (missed cycles : 2).[0m ×2 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159711 ms (missed cycles : 2). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159711 ms (missed cycles : 2).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871951 ms (missed cycles : 4). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871951 ms (missed cycles : 4).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962880 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962880 ms (missed cycles : 2).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377412 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377412 ms (missed cycles : 3).[0m ×2 + 41.96sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529016 ms (missed cycles : 5). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529016 ms (missed cycles : 5).[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030203 ms (missed cycles : 2). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030203 ms (missed cycles : 2).[0m ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976016 ms (missed cycles : 3). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976016 ms (missed cycles : 3).[0m ×2 + 45.32sINFOros2_control_node[2026-09-09 13:32:37.424] [info] Received new action goal ×2 + 45.32sINFOros2_control_node[2026-09-09 13:32:37.424] [info] Accepted new action goal ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891627 ms (missed cycles : 2). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891627 ms (missed cycles : 2).[0m ×2 + 46.48sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788960758.58057928 seconds ×3 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000991 ms (missed cycles : 4). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000991 ms (missed cycles : 4).[0m ×2 + 47.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.05sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.27sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788960759.36711979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972158 ms (missed cycles : 2). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972158 ms (missed cycles : 2).[0m ×2 + 48.48sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 48.51sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.52sINFOros2_control_node[2026-09-09 13:32:40.622] [info] Received new action goal ×2 + 48.52sINFOros2_control_node[2026-09-09 13:32:40.622] [info] Accepted new action goal ×2 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797062 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797062 ms (missed cycles : 2).[0m ×2 + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750543 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750543 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 91 warnings · 13326 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2188 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2188 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4376 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4376 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777556 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777556 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719894 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719894 ms (missed cycles : 2).[0m ×2 + 2.30sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550769 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550769 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960814.98104310 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709955 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709955 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788960815.60870433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.01sINFOros2_control_node[2026-09-09 13:33:35.762] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-09 13:33:35.762] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555550 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555550 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_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 + 5.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760748 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760748 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835310 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835310 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894374 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894374 ms (missed cycles : 2).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841288 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841288 ms (missed cycles : 2).[0m ×2 + 9.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841027 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841027 ms (missed cycles : 2).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665400 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665400 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903930 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903930 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278713 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278713 ms (missed cycles : 2).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176458 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176458 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094237 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094237 ms (missed cycles : 2).[0m ×2 + 16.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118189 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118189 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674244 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674244 ms (missed cycles : 2).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774017 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774017 ms (missed cycles : 2).[0m ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859390 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859390 ms (missed cycles : 2).[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716739 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716739 ms (missed cycles : 2).[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526772 ms (missed cycles : 4). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526772 ms (missed cycles : 4).[0m ×2 + 22.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 25.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 25.96sINFOobjective_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: ""
+ 25.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.24sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 26.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.26sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 26.26sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 27.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.88sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.03sINFOobjective_server_nodeFound path in 1 iterations (0.00338827 s). ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812734 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812734 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.27sINFOros2_control_node[2026-09-09 13:31:36.966] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-09-09 13:31:36.966] [info] Accepted new action goal ×2 + 1.70sINFOros2_control_node[2026-09-09 13:31:37.399] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-09-09 13:31:37.399] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 13:31:38.591] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 13:31:38.591] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788960698.60086775 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639937 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639937 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.49sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.49sINFOobjective_server_nodecaller: ×6 + 3.49sINFOobjective_server_nodetype: 0 ×6 + 3.49sINFOobjective_server_nodename: "" ×6 + 3.49sINFOobjective_server_nodeinstance_id: "" ×6 + 3.49sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788960699.30431366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-09 13:31:39.478] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-09 13:31:39.478] [info] Accepted new action goal ×2 + 3.86sWARNros2_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602881 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602881 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835215 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835215 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830891 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830891 ms (missed cycles : 3).[0m ×2 + 6.47sINFOros2_control_node[2026-09-09 13:31:42.167] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-09 13:31:42.167] [info] Accepted new action goal ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785839 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785839 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.438337 ms (missed cycles : 7). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.438337 ms (missed cycles : 7).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480670 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480670 ms (missed cycles : 3).[0m ×2 + 9.97sWARNros2_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 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243895 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243895 ms (missed cycles : 3).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870014 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870014 ms (missed cycles : 4).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5).[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788960710.71903181 seconds ×3 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4).[0m ×2 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788960711.30914950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788960711.36931801 seconds ×3 + 15.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3).[0m ×2 + 16.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.56sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 16.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.58sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 16.58sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 18.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 62 warnings · 220 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030203 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030203 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.88sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.88sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976016 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976016 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 13:32:37.424] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 13:32:37.424] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891627 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891627 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788960758.58057928 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000991 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000991 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788960759.36711979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972158 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972158 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.04sINFOros2_control_node[2026-09-09 13:32:40.622] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-09 13:32:40.622] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797062 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797062 ms (missed cycles : 2).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750543 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750543 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354755 ms (missed cycles : 5). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354755 ms (missed cycles : 5).[0m ×2 + 8.74sINFOobjective_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 + 8.74sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.74sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.74sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.74sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014199 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014199 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876988 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876988 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435953 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435953 ms (missed cycles : 4).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.21sINFOros2_control_node[2026-09-09 13:32:46.794] [info] Received new action goal ×2 + 11.21sINFOros2_control_node[2026-09-09 13:32:46.794] [info] Accepted new action goal ×2 + 12.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360130 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360130 ms (missed cycles : 3).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788818 ms (missed cycles : 5). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788818 ms (missed cycles : 5).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210226 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210226 ms (missed cycles : 3).[0m ×2 + 14.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788960770.39921808 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540615 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540615 ms (missed cycles : 2).[0m ×2 + 15.41sINFOobjective_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: ""
+ 15.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788960771.05112576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 15.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.65sINFOros2_control_node[2026-09-09 13:32:51.235] [info] Received new action goal ×2 + 15.65sINFOros2_control_node[2026-09-09 13:32:51.235] [info] Accepted new action goal ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983340 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983340 ms (missed cycles : 2).[0m ×2 + 16.92sINFOobjective_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 + 17.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.06sWARNros2_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 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215476 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215476 ms (missed cycles : 2).[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020592 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020592 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 57 errors · 42 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 0.47sWARNros2_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 + 0.91sINFOobjective_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 + 0.92sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 0.92sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 0.92sERRORobjective_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: 1788960893.10264969 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.48sINFOobjective_server_nodecaller: ×8 + 1.48sINFOobjective_server_nodetype: 0 ×8 + 1.48sINFOobjective_server_nodename: "" ×8 + 1.48sINFOobjective_server_nodeinstance_id: "" ×8 + 1.48sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.72sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788960896.77871346 seconds ×3 + 4.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2).[0m ×2 + 5.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195361 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195361 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685992 ms (missed cycles : 5). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685992 ms (missed cycles : 5).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141289 ms (missed cycles : 5). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141289 ms (missed cycles : 5).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347716 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347716 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094987 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094987 ms (missed cycles : 2).[0m ×2 + 10.81sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.83sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORweb_video_auth_proxy-23process has died [pid 7474, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.83sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.83sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.83sERRORweb_bridge_auth_proxy-22process has died [pid 7473, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.83sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.84sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.84sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.85sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.85sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.85sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.86sINFOvideo_server-21process has finished cleanly [pid 7472] ×2 + 10.86sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.86sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.87sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.87sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.88sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.88sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.89sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.89sINFOcontroller_managerShutdown request received.... + 10.89sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.89sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.89sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.89sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.89sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.89sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.89sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.89sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.89sINFOvideo_server2026/09/09 13:35:03 INF shutting down gracefully ×2 + 10.89sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.89sINFOvideo_server2026/09/09 13:35:03 INF [WebRTC] closing ×2 + 10.89sINFOvideo_server2026/09/09 13:35:03 INF [RTSP] closing ×2 + 10.89sINFOvideo_server2026/09/09 13:35:03 INF waiting for running hooks ×2 + 10.89sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.89sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.89sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.89sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.89sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOcontroller_managerShutting down the controller manager. + 10.89sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.89sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.89sERRORmove_groupStack trace (most recent call last) in thread 7835: ×2 + 10.89sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.89sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.90sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.90sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.90sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.90sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc42b843a63, in __clone ×2 + 10.90sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc42b7b6aa3, in ×2 + 10.90sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc42ba48db3, in ×2 + 10.90sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.90sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fc42c1ada94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.90sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc42bdda620, in rclcpp::Rate::sleep() ×2 + 10.90sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc42bd1cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.90sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc42bcde087, in ×2 + 10.90sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc42ba17390, in __cxa_throw ×2 + 10.90sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc42ba01a54, in std::terminate() ×2 + 10.90sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc42ba170d9, in ×2 + 10.90sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc42ba01ff4, in ×2 + 10.90sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc42b7428fe, in abort ×2 + 10.90sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc42b75f27d, in raise ×2 + 10.90sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc42b7b8b2c, in pthread_kill ×2 + 10.90sERRORmove_groupAborted (Signal sent by tkill() 7398 0) ×2 + 10.91sERRORmove_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_t26f7vv_ --params-file /tmp/launch_params_yb8n3k0s --params-file /tmp/launch_params_mlt0_fuj --params-file /tmp/launch_params_i9_78o2q --params-file /tmp/launch_params_e8xv_x0z --params-file /tmp/launch_params_u17p9y62']. ×2 + 11.10sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.10sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.89sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7471] ×2 + 11.89sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.91sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7402] ×2 + 11.91sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7401] ×2 + 11.95sINFOui_teleop_bridge-18process has finished cleanly [pid 7407] ×2 + 11.96sINFOwaypoint_manager_node-11process has finished cleanly [pid 7400] ×2 + 11.96sINFOexecute_objective_bridge-17process has finished cleanly [pid 7406] ×2 + 11.96sINFOcomponent_container_mt-16process has finished cleanly [pid 7405] ×2 + 11.98sINFOparameter_manager_node-10process has finished cleanly [pid 7399] ×2 + 12.04sINFOobjective_server_node[0;m[2026-09-09 13:35:04.217] [moveit_pro_license] [critical] ×2 + 12.04sINFOobjective_server_node************************************************* ×4 + 12.04sINFOobjective_server_node* MoveIt Pro License ×2 + 12.04sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.17sINFOobjective_server_node_main-14process has finished cleanly [pid 7403] ×2 + 12.17sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.04sINFOcomponent_container_mt-15process has finished cleanly [pid 7404] ×2 + 13.13sINFOweb_bridge-19process has finished cleanly [pid 7408] ×2 + 13.13sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.53sINFOros2_control_node-1process has finished cleanly [pid 7357] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186337 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186337 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746823 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746823 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289762 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289762 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.62sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 2.63sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 2.65sINFOros2_control_node[2026-09-09 13:30:41.849] [info] Received new action goal ×2 + 2.65sINFOros2_control_node[2026-09-09 13:30:41.849] [info] Accepted new action goal ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.99sINFOros2_control_node[2026-09-09 13:30:42.195] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-09-09 13:30:42.195] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1788960642.21450257 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329634 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329634 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_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: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.65sWARNros2_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 + 3.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788960642.90004873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:43.124] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:43.124] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257883 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257883 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806313 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806313 ms (missed cycles : 2).[0m ×2 + 6.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 13:30:45.404] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 13:30:45.404] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464596 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464596 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011467 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011467 ms (missed cycles : 4).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276606 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276606 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158033 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158033 ms (missed cycles : 2).[0m ×2 + 10.35sWARNros2_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 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418252 ms (missed cycles : 5). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418252 ms (missed cycles : 5).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 13.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 13.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 13.46sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 13.75sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 13.75sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 13.76sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 13.78sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 13.85sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 13.88sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 14.05sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 14.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960653.30766392 seconds ×3 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 15.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.66sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 16.52sWARNros2_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 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_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 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960880.60042429 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.60sINFOobjective_server_nodecaller: ×14 + 2.60sINFOobjective_server_nodetype: 0 ×14 + 2.60sINFOobjective_server_nodename: "" ×14 + 2.60sINFOobjective_server_nodeinstance_id: "" ×14 + 2.60sINFOobjective_server_node ×14 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 3.05sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_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 + 3.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.06sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.50sINFOros2_control_node[2026-09-09 13:34:46.121] [info] Received new action goal ×2 + 7.50sINFOros2_control_node[2026-09-09 13:34:46.121] [info] Accepted new action goal ×2 + 7.50sINFOros2_control_node[2026-09-09 13:34:46.122] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167410 ms (missed cycles : 5). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167410 ms (missed cycles : 5).[0m ×2 + 8.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508455 ms (missed cycles : 5). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508455 ms (missed cycles : 5).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593829 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593829 ms (missed cycles : 2).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 14.03sWARNros2_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 + 14.48sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 14.48sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 14.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960893.10264969 seconds ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 16.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.29sINFOobjective_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 + 16.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 16.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 17.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.49sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723353 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723353 ms (missed cycles : 2).[0m ×2 + 0.72sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.99sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.99sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788960685.75379181 seconds ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907032 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907032 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850557 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850557 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669233 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669233 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788960688.22056103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-09-09 13:31:28.424] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-09 13:31:28.424] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498784 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498784 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735283 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735283 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364647 ms (missed cycles : 6). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364647 ms (missed cycles : 6).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605043 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605043 ms (missed cycles : 4).[0m ×2 + 8.11sWARNros2_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 + 8.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.16sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (5.34e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.63sINFOobjective_server_nodeFound path in 5 iterations (0.00512814 s). ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958709 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958709 ms (missed cycles : 4).[0m ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 0 iterations (4.82e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 9.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.07sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.33sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.33sINFOros2_control_node[2026-09-09 13:31:34.057] [info] Received new action goal ×2 + 9.33sINFOros2_control_node[2026-09-09 13:31:34.057] [info] Accepted new action goal ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747612 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747612 ms (missed cycles : 5).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 11.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.88sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 12.00sINFOobjective_server_nodeFound path in 1 iterations (0.00338827 s). ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812734 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812734 ms (missed cycles : 2).[0m ×2 + 12.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.24sINFOros2_control_node[2026-09-09 13:31:36.966] [info] Received new action goal ×2 + 12.24sINFOros2_control_node[2026-09-09 13:31:36.966] [info] Accepted new action goal ×2 + 12.67sINFOros2_control_node[2026-09-09 13:31:37.399] [info] Received new action goal ×2 + 12.67sINFOros2_control_node[2026-09-09 13:31:37.399] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2).[0m ×2 + 13.86sINFOobjective_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 + 13.86sINFOros2_control_node[2026-09-09 13:31:38.591] [info] Got request to cancel active goal. ×2 + 13.86sINFOros2_control_node[2026-09-09 13:31:38.591] [info] Canceling active goal... ×2 + 13.87sERRORobjective_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: 1788960698.60086775 seconds ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639937 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639937 ms (missed cycles : 3).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788960699.30431366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 14.75sINFOros2_control_node[2026-09-09 13:31:39.478] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-09 13:31:39.478] [info] Accepted new action goal ×2 + 14.83sWARNros2_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 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602881 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602881 ms (missed cycles : 2).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835215 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835215 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830891 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830891 ms (missed cycles : 3).[0m ×2 + 17.44sINFOros2_control_node[2026-09-09 13:31:42.167] [info] Received new action goal ×2 + 17.44sINFOros2_control_node[2026-09-09 13:31:42.167] [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 6.240293 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240293 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688011 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688011 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786906 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786906 ms (missed cycles : 4).[0m ×2 + 3.09sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788960869.60275888 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467312 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467312 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788960870.21013904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 13:34:30.344] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 13:34:30.344] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667111 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667111 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078261 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078261 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359878 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359878 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602583 ms (missed cycles : 5). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602583 ms (missed cycles : 5).[0m ×2 + 7.59sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090588 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090588 ms (missed cycles : 5).[0m ×2 + 9.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020216 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020216 ms (missed cycles : 4).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 14.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sERRORobjective_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: 1788960880.60042429 seconds ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 15.20sWARNros2_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 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 15.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 16.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.20sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 16.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.33sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 16.33sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971976 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971976 ms (missed cycles : 2).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208843 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208843 ms (missed cycles : 2).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298338 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298338 ms (missed cycles : 4).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249853 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249853 ms (missed cycles : 3).[0m ×2 + 11.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782320 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782320 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468931 ms (missed cycles : 4). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468931 ms (missed cycles : 4).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003553 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003553 ms (missed cycles : 5).[0m ×2 + 14.21sERRORobjective_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: 1788960859.09171653 seconds ×3 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788960859.69258308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.11sINFOros2_control_node[2026-09-09 13:34:19.992] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-09 13:34:19.992] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192870 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192870 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505805 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505805 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984031 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984031 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709720 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709720 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_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 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997545 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997545 ms (missed cycles : 2).[0m ×2 + 8.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×6 + 8.33sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 5 iterations (0.00526431 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778487 ms (missed cycles : 5). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778487 ms (missed cycles : 5).[0m ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.39sINFOros2_control_node[2026-09-09 13:31:23.185] [info] Received new action goal ×2 + 9.39sINFOros2_control_node[2026-09-09 13:31:23.185] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903536 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903536 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723353 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723353 ms (missed cycles : 2).[0m ×2 + 11.65sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.92sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.92sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.93sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788960685.75379181 seconds ×3 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907032 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907032 ms (missed cycles : 2).[0m ×2 + 12.95sWARNros2_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 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850557 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850557 ms (missed cycles : 3).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669233 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669233 ms (missed cycles : 3).[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.42sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788960688.22056103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 14.63sINFOros2_control_node[2026-09-09 13:31:28.424] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-09-09 13:31:28.424] [info] Accepted new action goal ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498784 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498784 ms (missed cycles : 2).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735283 ms (missed cycles : 5). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735283 ms (missed cycles : 5).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364647 ms (missed cycles : 6). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364647 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 59 warnings · 2164 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286773 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286773 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173314 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173314 ms (missed cycles : 2).[0m ×2 + 8.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (5.54e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 1 iterations (0.00357146 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.98sINFOros2_control_node[2026-09-09 13:34:02.854] [info] Received new action goal ×2 + 8.98sINFOros2_control_node[2026-09-09 13:34:02.854] [info] Accepted new action goal ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625090 ms (missed cycles : 4). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625090 ms (missed cycles : 4).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500077 ms (missed cycles : 5). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500077 ms (missed cycles : 5).[0m ×2 + 11.00sWARNros2_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 + 11.28sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 13.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 13.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 14.21sINFOobjective_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 + 14.22sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 14.22sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 14.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 14.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 14.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 15.08sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 16.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 16.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 52 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.85sINFOros2_control_node[2026-09-09 13:31:09.788] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-09 13:31:09.788] [info] Accepted new action goal ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370137 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370137 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295881 ms (missed cycles : 4). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295881 ms (missed cycles : 4).[0m ×2 + 9.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 9.19sINFOros2_control_node[2026-09-09 13:31:12.126] [info] Received new action goal ×2 + 9.19sINFOros2_control_node[2026-09-09 13:31:12.126] [info] Accepted new action goal ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743036 ms (missed cycles : 5). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743036 ms (missed cycles : 5).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 11.53sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 11.55sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 13.65sINFOobjective_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 + 13.66sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 13.66sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 13.67sERRORobjective_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: 1788960676.60729504 seconds ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 14.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.51sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 14.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.51sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.9s | 3 errors · 57 warnings · 290 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429997 ms (missed cycles : 6). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429997 ms (missed cycles : 6).[0m ×2 + 7.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 1 iterations (0.00363457 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.54sINFOros2_control_node[2026-09-09 13:30:59.487] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-09-09 13:30:59.487] [info] Accepted new action goal ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040513 ms (missed cycles : 5). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040513 ms (missed cycles : 5).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278216 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278216 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191184 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191184 ms (missed cycles : 2).[0m ×2 + 10.85sINFOros2_control_node[2026-09-09 13:31:01.792] [info] Received new action goal ×2 + 10.85sINFOros2_control_node[2026-09-09 13:31:01.792] [info] Accepted new action goal ×2 + 10.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 12.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 12.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 14.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 14.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.54sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.62sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 15.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 15.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.47sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 15.47sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 16.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_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 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.58sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.07sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.10sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.994024 ms (missed cycles : 8). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.994024 ms (missed cycles : 8).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005013 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005013 ms (missed cycles : 2).[0m ×2 + 8.27sWARNros2_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 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.010737 ms (missed cycles : 8). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.010737 ms (missed cycles : 8).[0m ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.90sINFOros2_control_node[2026-09-09 13:30:38.509] [info] Received new action goal ×2 + 9.90sINFOros2_control_node[2026-09-09 13:30:38.509] [info] Accepted new action goal ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186337 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186337 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746823 ms (missed cycles : 4). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746823 ms (missed cycles : 4).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289762 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289762 ms (missed cycles : 2).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.24sINFOros2_control_node[2026-09-09 13:30:41.849] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-09-09 13:30:41.849] [info] Accepted new action goal ×2 + 13.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.58sINFOros2_control_node[2026-09-09 13:30:42.195] [info] Got request to cancel active goal. ×2 + 13.58sINFOros2_control_node[2026-09-09 13:30:42.195] [info] Canceling active goal... ×2 + 13.60sERRORobjective_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: 1788960642.21450257 seconds ×3 + 13.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329634 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329634 ms (missed cycles : 2).[0m ×2 + 14.22sINFOobjective_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: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788960642.90004873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 14.51sINFOros2_control_node[2026-09-09 13:30:43.124] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-09-09 13:30:43.124] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257883 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257883 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806313 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806313 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 16.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.79sINFOros2_control_node[2026-09-09 13:30:45.404] [info] Received new action goal ×2 + 16.79sINFOros2_control_node[2026-09-09 13:30:45.404] [info] Accepted new action goal ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464596 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464596 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249853 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249853 ms (missed cycles : 3).[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782320 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782320 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468931 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468931 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003553 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003553 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sERRORobjective_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: 1788960859.09171653 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788960859.69258308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:34:19.992] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:34:19.992] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192870 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192870 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505805 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505805 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984031 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984031 ms (missed cycles : 3).[0m ×2 + 7.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879243 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879243 ms (missed cycles : 5).[0m ×2 + 8.16sINFOros2_control_node[2026-09-09 13:34:24.018] [info] Received new action goal ×2 + 8.16sINFOros2_control_node[2026-09-09 13:34:24.018] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711062 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711062 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186676 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186676 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240293 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240293 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688011 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688011 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786906 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786906 ms (missed cycles : 4).[0m ×2 + 13.71sWARNros2_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 + 13.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788960869.60275888 seconds ×3 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467312 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467312 ms (missed cycles : 3).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788960870.21013904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.49sINFOros2_control_node[2026-09-09 13:34:30.344] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-09-09 13:34:30.344] [info] Accepted new action goal ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667111 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667111 ms (missed cycles : 4).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078261 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078261 ms (missed cycles : 2).[0m ×2 + 16.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359878 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359878 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788960710.71903181 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.69sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.69sINFOobjective_server_nodecaller: ×6 + 2.69sINFOobjective_server_nodetype: 0 ×6 + 2.69sINFOobjective_server_nodename: "" ×6 + 2.69sINFOobjective_server_nodeinstance_id: "" ×6 + 2.69sINFOobjective_server_node ×6 + 2.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788960711.30914950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788960711.36931801 seconds ×3 + 3.12sWARNros2_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 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 7.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.26sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.32sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.41sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.42sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.73sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 9.26sWARNros2_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 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 691 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.03sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.03sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.03sWARNros2_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 + 0.03sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.03sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.03sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.03sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.03sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.03sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.03sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.03sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.03sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.03sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.03sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.03sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.03sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.03sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.03sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.03sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.03sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.06sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.06sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685256 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685256 ms (missed cycles : 2).[0m ×2 + 0.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.31sINFOforce_torque_sensor_broadcasterconfigure successful + 0.31sINFOros2_control_nodeconfigure successful[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.44sINFOcomponent_container_mt[2026-09-09 13:30:24.448] [moveit_pro_license] [info] ×2 + 0.44sINFOcomponent_container_mt************************************************* ×4 + 0.44sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.44sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.59sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.62sINFOros2_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 + 0.62sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.62sWARNros2_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 + 0.62sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 1.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 1.10sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.13sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.13sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.13sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.13sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.14sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.14sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.15sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.15sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698602 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698602 ms (missed cycles : 2).[0m ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.48sINFOros2-5process has finished cleanly [pid 7372] ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 1.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.61sINFOros2_control_node[2026-09-09 13:30:25.613] [info] Controller state will be published at 20 Hz. ×2 + 1.61sINFOros2_control_node[2026-09-09 13:30:25.613] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.93sINFOros2-8process has finished cleanly [pid 7375] ×2 + 2.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 2.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 2.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.03sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.03sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.03sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.06sINFOros2_control_node[2026-09-09 13:30:26.063] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.06sINFOros2_control_node[2026-09-09 13:30:26.063] [info] Controller state will be published at 50 Hz. ×2 + 2.07sINFOros2_control_node[2026-09-09 13:30:26.069] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.39sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.39sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.39sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.39sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.39sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 2.39sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 2.40sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.40sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.42sINFOros2-6process has finished cleanly [pid 7373] ×2 + 2.44sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.44sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.44sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.44sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.44sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.44sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 2.45sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.45sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.73sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.73sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.73sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.73sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.78sINFOros2-3process has finished cleanly [pid 7359] ×2 + 2.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 2.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 2.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.85sINFOobjective_server_nodecaller: ×14 + 2.85sINFOobjective_server_nodetype: 0 ×14 + 2.85sINFOobjective_server_nodename: "" ×14 + 2.85sINFOobjective_server_nodeinstance_id: "" ×14 + 2.85sINFOobjective_server_node ×14 + 2.87sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 2.87sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.22sINFOros2-7process has finished cleanly [pid 7374] ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 6.72sWARNros2_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 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 7.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.19sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 27 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1788960893.10264969 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788960896.77871346 seconds ×3 + 6.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2). | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 121 info |
+ 0.00sWARNros2_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 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_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 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.67sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.60sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 5.96sWARNros2_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 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788960880.60042429 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_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 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 7375] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.069] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 0.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.30sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 0.47sWARNros2_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 + 0.91sINFOobjective_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 + 0.92sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 0.92sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 0.92sERRORobjective_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: 1788960893.10264969 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.48sINFOobjective_server_nodecaller: ×8 + 1.48sINFOobjective_server_nodetype: 0 ×8 + 1.48sINFOobjective_server_nodename: "" ×8 + 1.48sINFOobjective_server_nodeinstance_id: "" ×8 + 1.48sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.72sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788960896.77871346 seconds ×3 + 4.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2).[0m ×2 + 5.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195361 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195361 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870014 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870014 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788960710.71903181 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788960711.30914950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788960711.36931801 seconds ×3 + 4.19sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.78sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 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 5.522768 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_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 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960880.60042429 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 3.05sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_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 + 3.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.06sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 1.51sWARNros2_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 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 1.96sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 1.96sERRORobjective_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: 1788960893.10264969 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.52sINFOobjective_server_nodecaller: ×8 + 2.52sINFOobjective_server_nodetype: 0 ×8 + 2.52sINFOobjective_server_nodename: "" ×8 + 2.52sINFOobjective_server_nodeinstance_id: "" ×8 + 2.52sINFOobjective_server_node ×8 + 2.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.76sINFOobjective_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 + 3.77sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.77sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788960896.77871346 seconds ×3 + 5.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769403 ms (missed cycles : 2).[0m ×2 + 6.85sWARNros2_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 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207621 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107308 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.71sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948826 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.14sINFOobjective_server_nodeFound path in 1 iterations (0.00459836 s). ×2 + 2.25sINFOobjective_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 + 2.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.36sERRORobjective_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: 1788960653.30766392 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788960653.94750476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788960653.99763060 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282152 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788960654.64810634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-09 13:30:54.862] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697206 ms (missed cycles : 5).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.835334 ms (missed cycles : 8).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449590 ms (missed cycles : 7).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-09 13:31:03.651] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330428 ms (missed cycles : 6).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788960664.94835401 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906548 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788960665.56700420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788960665.64713383 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298460 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788960666.29469180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-09 13:31:06.419] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073710 ms (missed cycles : 6).[0m ×2 + 4.84sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002887 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145026 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.732941 ms (missed cycles : 8).[0m ×2 + 0.04sWARNros2_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 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-09 13:31:14.486] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703575 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733545 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Got request to cancel active goal. ×2 + 2.80sINFOros2_control_node[2026-09-09 13:31:16.594] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1788960676.60729504 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306465 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788960677.24770761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 13:31:17.451] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.037061 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440274 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.88sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.03sINFOobjective_server_nodeFound path in 1 iterations (0.00338827 s). ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812734 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812734 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.27sINFOros2_control_node[2026-09-09 13:31:36.966] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-09-09 13:31:36.966] [info] Accepted new action goal ×2 + 1.70sINFOros2_control_node[2026-09-09 13:31:37.399] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-09-09 13:31:37.399] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 13:31:38.591] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 13:31:38.591] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788960698.60086775 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639937 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639937 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788960699.30431366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-09 13:31:39.478] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-09 13:31:39.478] [info] Accepted new action goal ×2 + 3.86sWARNros2_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602881 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602881 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835215 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835215 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830891 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830891 ms (missed cycles : 3).[0m ×2 + 6.47sINFOros2_control_node[2026-09-09 13:31:42.167] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-09 13:31:42.167] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870014 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870014 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079901 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870223 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788960710.71903181 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059172 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788960711.30914950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788960711.36931801 seconds ×3 + 4.19sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744734 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.78sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 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 · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 106 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: 1788960712.15271139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 13:31:52.273] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445180 ms (missed cycles : 5).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998254 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788960714.28286004 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915039 ms (missed cycles : 5).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788960715.89333487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 13:31:56.301] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039375 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900427 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729583 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 84 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360130 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360130 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788818 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788818 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210226 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210226 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788960770.39921808 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_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 2.540615 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540615 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_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: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788960771.05112576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-09 13:32:51.235] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-09 13:32:51.235] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983340 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983340 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215476 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215476 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020592 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020592 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 22 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 22 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 22 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 22 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859731 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810437 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782445 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788960837.11301541 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956193 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788960837.80627298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:33:58.010] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641266 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314953 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 25 warnings · 82 info |
+ 0.00sWARNros2_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 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-09 13:34:05.156] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631608 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912083 ms (missed cycles : 2).[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-09 13:34:07.000] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072037 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-09 13:34:08.096] [info] Canceling active goal... ×2 + 3.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960848.11139345 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505472 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788960848.77111030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-09 13:34:08.955] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674792 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906647 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704132 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249853 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249853 ms (missed cycles : 3).[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782320 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782320 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468931 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468931 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003553 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003553 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sERRORobjective_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: 1788960859.09171653 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788960859.69258308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.13sINFOros2_control_node[2026-09-09 13:34:19.992] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-09 13:34:19.992] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192870 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192870 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505805 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505805 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984031 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984031 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240293 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240293 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688011 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688011 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786906 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786906 ms (missed cycles : 4).[0m ×2 + 3.09sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788960869.60275888 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467312 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467312 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788960870.21013904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 13:34:30.344] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 13:34:30.344] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667111 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667111 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078261 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078261 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359878 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788960880.60042429 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_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 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788960880.60042429 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_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 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788960880.60042429 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_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 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233629 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sERRORobjective_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: 1788960880.60042429 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_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 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[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 5.522768 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_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 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960880.60042429 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 3.05sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_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 + 3.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.06sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_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 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960880.60042429 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 3.05sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_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 + 3.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.06sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522768 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419206 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_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 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788960880.60042429 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305200 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788960881.27466488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788960881.35478997 seconds ×3 + 3.05sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841599 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788960881.94531298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_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 + 3.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788960881.96749520 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.06sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788960882.67650318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-09 13:34:42.800] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.015931 ms (missed cycles : 7).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176589 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405772 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1788960893.10264969 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071765 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566273 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-09 13:34:53.096] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1788960893.10264969 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031463 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788960893.71494365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909473 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788960894.30507684 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788960894.90209413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788960894.90443659 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849297 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788960895.50078893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788960895.56209636 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788960896.15857220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799008 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__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 |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 42 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-09-13-30-19-786201-a44f9f68ddbf-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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632048 ms (missed cycles : 3). + 0.81sINFOros2_control_node-1process started with pid [7357] ×2 + 0.81sINFOmove_group-9process started with pid [7398] ×2 + 0.81sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.81sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.81sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.81sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.81sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.81sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.81sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.81sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.81sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.81sINFOweb_bridge-19process started with pid [7408] ×2 + 0.81sINFOtf2_web_republisher_node-20process started with pid [7471] ×2 + 0.81sINFOvideo_server-21process started with pid [7472] ×2 + 0.81sINFOweb_bridge_auth_proxy-22process started with pid [7473] ×2 + 0.81sINFOweb_video_auth_proxy-23process started with pid [7474] ×2 + 0.81sINFOros2-2process started with pid [7358] ×2 + 0.81sINFOros2-3process started with pid [7359] ×2 + 0.81sINFOros2-4process started with pid [7371] ×2 + 0.81sINFOros2-5process started with pid [7372] ×2 + 0.81sINFOros2-6process started with pid [7373] ×2 + 0.81sINFOros2-7process started with pid [7374] ×2 + 0.81sINFOros2-8process started with pid [7375] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_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 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632048 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.88sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/09 13:30:21 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.09sINFOvideo_server2026/09/09 13:30:21 INF configuration loaded from /tmp/moveit-webrtc-4_oqz08_/mediamtx.yml ×2 + 1.09sINFOvideo_server2026/09/09 13:30:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.09sINFOvideo_server2026/09/09 13:30:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.60sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745742 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745742 ms (missed cycles : 2).[0m ×2 + 1.85sINFOmove_group[2026-09-09 13:30:22.033] [moveit_pro_license] [info] ×2 + 1.85sINFOmove_group************************************************* ×4 + 1.85sINFOmove_group* MoveIt Pro License ×2 + 1.85sINFOmove_group* 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 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.02sINFOros2_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 + 2.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.33sINFOwaypoint_manager_node[2026-09-09 13:30:22.511] [moveit_pro_license] [info] ×2 + 2.33sINFOwaypoint_manager_node************************************************* ×4 + 2.33sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.33sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.35sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 2.44sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.27sINFOobjective_server_node[2026-09-09 13:30:23.456] [moveit_pro_license] [info] ×2 + 3.27sINFOobjective_server_node************************************************* ×4 + 3.27sINFOobjective_server_node* MoveIt Pro License ×2 + 3.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.82sWARNobjective_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 + 3.85sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.85sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.85sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.85sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.85sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.85sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.85sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.85sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.85sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.85sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.85sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.85sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.85sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.85sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.85sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.85sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.85sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.88sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.88sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.10sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.10sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.10sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.10sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.10sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 4.10sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685256 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685256 ms (missed cycles : 2).[0m ×2 + 4.12sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.12sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.12sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.12sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.13sINFOforce_torque_sensor_broadcasterconfigure successful + 4.13sINFOros2_control_nodeconfigure successful[0m ×2 + 4.13sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.13sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.13sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.13sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.14sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.27sINFOcomponent_container_mt[2026-09-09 13:30:24.448] [moveit_pro_license] [info] ×2 + 4.27sINFOcomponent_container_mt************************************************* ×4 + 4.27sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.27sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.41sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.41sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.41sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.42sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 4.42sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 4.44sINFOros2_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 + 4.44sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.44sWARNros2_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 + 4.44sINFOros2-2process has finished cleanly [pid 7358] ×2 + 4.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.46sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.88sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 4.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 4.92sINFOros2-4process has finished cleanly [pid 7371] ×2 + 4.95sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.95sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.95sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.95sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.95sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.96sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.96sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.96sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.96sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.98sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.98sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698602 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698602 ms (missed cycles : 2).[0m ×2 + 5.24sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.24sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.30sINFOros2-5process has finished cleanly [pid 7372] ×2 + 5.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 5.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 5.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.43sINFOros2_control_node[2026-09-09 13:30:25.613] [info] Controller state will be published at 20 Hz. ×2 + 5.43sINFOros2_control_node[2026-09-09 13:30:25.613] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.74sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.74sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.75sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.75sINFOros2-8process has finished cleanly [pid 7375] ×2 + 5.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 5.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 5.85sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.85sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.86sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.86sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.88sINFOros2_control_node[2026-09-09 13:30:26.063] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.88sINFOros2_control_node[2026-09-09 13:30:26.063] [info] Controller state will be published at 50 Hz. ×2 + 5.89sINFOros2_control_node[2026-09-09 13:30:26.069] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.21sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.21sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.21sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.21sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 6.21sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 6.22sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.24sINFOros2-6process has finished cleanly [pid 7373] ×2 + 6.26sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.26sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.26sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.26sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.26sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.26sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 6.27sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.27sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.60sINFOros2-3process has finished cleanly [pid 7359] ×2 + 6.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 6.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 6.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.67sINFOobjective_server_nodecaller: ×10 + 6.67sINFOobjective_server_nodetype: 0 ×10 + 6.67sINFOobjective_server_nodename: "" ×10 + 6.67sINFOobjective_server_nodeinstance_id: "" ×10 + 6.67sINFOobjective_server_node ×10 + 6.69sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 6.69sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 6.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.04sINFOros2-7process has finished cleanly [pid 7374] ×2 + 7.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.04sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 9.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 9.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 10.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 10.54sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.23sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.23sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.23sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.23sINFOobjective_server_nodecaller: ×12 + 0.23sINFOobjective_server_nodetype: 0 ×12 + 0.23sINFOobjective_server_nodename: "" ×12 + 0.23sINFOobjective_server_nodeinstance_id: "" ×12 + 0.23sINFOobjective_server_node ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 3.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.96sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 6.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 7.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 435 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[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 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 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 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.83sINFOros2-7process has finished cleanly [pid 7374] ×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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.83sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 4.33sWARNros2_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 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-09-13-30-19-786201-a44f9f68ddbf-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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632048 ms (missed cycles : 3). + 0.81sINFOros2_control_node-1process started with pid [7357] ×2 + 0.81sINFOmove_group-9process started with pid [7398] ×2 + 0.81sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.81sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.81sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.81sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.81sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.81sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.81sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.81sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.81sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.81sINFOweb_bridge-19process started with pid [7408] ×2 + 0.81sINFOtf2_web_republisher_node-20process started with pid [7471] ×2 + 0.81sINFOvideo_server-21process started with pid [7472] ×2 + 0.81sINFOweb_bridge_auth_proxy-22process started with pid [7473] ×2 + 0.81sINFOweb_video_auth_proxy-23process started with pid [7474] ×2 + 0.81sINFOros2-2process started with pid [7358] ×2 + 0.81sINFOros2-3process started with pid [7359] ×2 + 0.81sINFOros2-4process started with pid [7371] ×2 + 0.81sINFOros2-5process started with pid [7372] ×2 + 0.81sINFOros2-6process started with pid [7373] ×2 + 0.81sINFOros2-7process started with pid [7374] ×2 + 0.81sINFOros2-8process started with pid [7375] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_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 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632048 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.88sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/09 13:30:21 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.09sINFOvideo_server2026/09/09 13:30:21 INF configuration loaded from /tmp/moveit-webrtc-4_oqz08_/mediamtx.yml ×2 + 1.09sINFOvideo_server2026/09/09 13:30:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.09sINFOvideo_server2026/09/09 13:30:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.60sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745742 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745742 ms (missed cycles : 2).[0m ×2 + 1.85sINFOmove_group[2026-09-09 13:30:22.033] [moveit_pro_license] [info] ×2 + 1.85sINFOmove_group************************************************* ×4 + 1.85sINFOmove_group* MoveIt Pro License ×2 + 1.85sINFOmove_group* 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 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.02sINFOros2_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 + 2.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.33sINFOwaypoint_manager_node[2026-09-09 13:30:22.511] [moveit_pro_license] [info] ×2 + 2.33sINFOwaypoint_manager_node************************************************* ×4 + 2.33sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.33sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.35sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 2.44sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.27sINFOobjective_server_node[2026-09-09 13:30:23.456] [moveit_pro_license] [info] ×2 + 3.27sINFOobjective_server_node************************************************* ×4 + 3.27sINFOobjective_server_node* MoveIt Pro License ×2 + 3.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 7375] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.069] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 0.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.30sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 7375] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.069] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 0.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.30sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 7375] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 13:30:26.039] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.063] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 13:30:26.069] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 0.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.30sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 435 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705599 ms (missed cycles : 3).[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7359] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ay2yfa7s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8llirvzp --params-file /tmp/launch_params_hxd4s6pi [0m ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[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 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-09 13:30:26.873] [info] Controller state will be published at 10 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-09 13:30:26.874] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960626.90336418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960626.91360950 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 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 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.83sINFOros2-7process has finished cleanly [pid 7374] ×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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.83sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 4.33sWARNros2_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 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.23sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.23sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.23sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.23sINFOobjective_server_nodecaller: ×12 + 0.23sINFOobjective_server_nodetype: 0 ×12 + 0.23sINFOobjective_server_nodename: "" ×12 + 0.23sINFOobjective_server_nodeinstance_id: "" ×12 + 0.23sINFOobjective_server_node ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123203 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788960627.50385499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 3.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.96sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788960628.61400867 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310584 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788960629.22736168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788960629.28760791 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960629.95236993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960629.97249413 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850660 ms (missed cycles : 7).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960630.56265688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960630.71347690 seconds ×3 + 2.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287813 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960631.40263176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960631.45277333 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788960632.05482793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463761 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-09 13:30:32.191] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151794 ms (missed cycles : 4).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133546 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-09 13:30:34.709] [info] Accepted new action goal ×2 | ||||