MoveIt Pro Objective Integration Tests

124

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.0s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

28 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 · 18864 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935572 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935572 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163383 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163383 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695792 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695792 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789001674.47448730 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOobjective_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: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310723 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310723 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789001675.13188362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.48sINFOros2_control_node[2026-09-10 00:54:35.285] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-10 00:54:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759210 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759210 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.75sINFOobjective_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 + 4.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 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_admittance_controller ×6 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339897 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339897 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569485 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569485 ms (missed cycles : 2).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal ×3100 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal ×3100 + 6.97sINFOros2_control_nodeReceived new action goal[0m ×6200 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×6200 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615868 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615868 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709118 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709118 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415533 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415533 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351321 ms (missed cycles : 7). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351321 ms (missed cycles : 7).[0m ×2 + 10.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096623 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096623 ms (missed cycles : 2).[0m ×2 + 11.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.85sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.85sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334418 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334418 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690572 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690572 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230628 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230628 ms (missed cycles : 2).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718642 ms (missed cycles : 2). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718642 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733656 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733656 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150874 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150874 ms (missed cycles : 2).[0m ×2 + 17.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793235 ms (missed cycles : 4). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793235 ms (missed cycles : 4).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788158 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788158 ms (missed cycles : 2).[0m ×2 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551356 ms (missed cycles : 2). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551356 ms (missed cycles : 2).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682675 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682675 ms (missed cycles : 2).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084730 ms (missed cycles : 3). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084730 ms (missed cycles : 3).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741235 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741235 ms (missed cycles : 2).[0m ×2 + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.303561 ms (missed cycles : 8). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.303561 ms (missed cycles : 8).[0m ×2 + 24.88sWARNros2_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 ×4 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981511 ms (missed cycles : 3). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981511 ms (missed cycles : 3).[0m ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765715 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765715 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523646 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523646 ms (missed cycles : 2).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338904 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338904 ms (missed cycles : 2).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735661 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735661 ms (missed cycles : 2).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418087 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418087 ms (missed cycles : 2).[0m ×2 + 31.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784818 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784818 ms (missed cycles : 2).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223509 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223509 ms (missed cycles : 2).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425172 ms (missed cycles : 2). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425172 ms (missed cycles : 2).[0m ×2 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401453 ms (missed cycles : 4). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401453 ms (missed cycles : 4).[0m ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459190 ms (missed cycles : 4). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459190 ms (missed cycles : 4).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768867 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768867 ms (missed cycles : 2).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.314042 ms (missed cycles : 7). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.314042 ms (missed cycles : 7).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810837 ms (missed cycles : 2). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810837 ms (missed cycles : 2).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380310 ms (missed cycles : 2). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380310 ms (missed cycles : 2).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028075 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028075 ms (missed cycles : 2).[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095511 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095511 ms (missed cycles : 2).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415636 ms (missed cycles : 4). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415636 ms (missed cycles : 4).[0m ×2 + 44.02sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805665 ms (missed cycles : 2). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805665 ms (missed cycles : 2).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795883 ms (missed cycles : 2). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795883 ms (missed cycles : 2).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352659 ms (missed cycles : 2). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352659 ms (missed cycles : 2).[0m ×2 + 47.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001719.04963613 seconds ×3 + 47.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.155224 ms (missed cycles : 5). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.155224 ms (missed cycles : 5).[0m ×2 + 47.78sINFOobjective_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: "" + 47.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789001719.67527390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.00sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 48.01sINFOros2_control_node[2026-09-10 00:55:19.820] [info] Received new action goal ×2 + 48.01sINFOros2_control_node[2026-09-10 00:55:19.820] [info] Accepted new action goal ×2 + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969029 ms (missed cycles : 4). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969029 ms (missed cycles : 4).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556504 ms (missed cycles : 2). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556504 ms (missed cycles : 2).[0m ×2 + 50.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965026 ms (missed cycles : 2). + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965026 ms (missed cycles : 2).[0m ×2 + 50.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.4s	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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302933 ms (missed cycles : 4). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302933 ms (missed cycles : 4).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-10 00:53:44.221] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-10 00:53:44.221] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342434 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342434 ms (missed cycles : 5).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198434 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198434 ms (missed cycles : 2).[0m ×2 + 10.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.41sINFOros2_control_node[2026-09-10 00:53:47.521] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-09-10 00:53:47.521] [info] Accepted new action goal ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235374 ms (missed cycles : 4). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235374 ms (missed cycles : 4).[0m ×2 + 11.27sWARNros2_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 ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512528 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512528 ms (missed cycles : 3).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025788 ms (missed cycles : 4). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025788 ms (missed cycles : 4).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.44sINFOros2_control_node[2026-09-10 00:53:50.555] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-09-10 00:53:50.555] [info] Accepted new action goal ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830780 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830780 ms (missed cycles : 2).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881303 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881303 ms (missed cycles : 5).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142303 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142303 ms (missed cycles : 2).[0m ×2 + 16.41sINFOobjective_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 + 16.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.41sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.41sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300814 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300814 ms (missed cycles : 3).[0m ×2 + 17.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801710 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801710 ms (missed cycles : 2).[0m ×2 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976858 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976858 ms (missed cycles : 2).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956284 ms (missed cycles : 5). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956284 ms (missed cycles : 5).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981817 ms (missed cycles : 3). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981817 ms (missed cycles : 3).[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943204 ms (missed cycles : 2). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943204 ms (missed cycles : 2).[0m ×2 + 22.34sWARNros2_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 + 23.20sINFOobjective_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 + 23.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.20sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.20sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.20sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.20sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602550 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602550 ms (missed cycles : 2).[0m ×2 + 24.18sINFOros2_control_node[2026-09-10 00:54:01.296] [info] Received new action goal ×2 + 24.18sINFOros2_control_node[2026-09-10 00:54:01.296] [info] Accepted new action goal ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662297 ms (missed cycles : 2). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662297 ms (missed cycles : 2).[0m ×2 + 25.35sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.36sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.64sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 25.64sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.69sINFOros2_control_node[2026-09-10 00:54:02.800] [info] Received new action goal ×2 + 25.69sINFOros2_control_node[2026-09-10 00:54:02.800] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718154 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718154 ms (missed cycles : 2).[0m ×2 + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066259 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066259 ms (missed cycles : 2).[0m ×2 + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953429 ms (missed cycles : 2). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953429 ms (missed cycles : 2).[0m ×2 + 27.81sINFOobjective_server_nodeFound path in 0 iterations (7.09e-07 s). ×2 + 27.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.83sINFOros2_control_node[2026-09-10 00:54:04.947] [info] Received new action goal ×2 + 27.83sINFOros2_control_node[2026-09-10 00:54:04.947] [info] Accepted new action goal ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285477 ms (missed cycles : 5). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285477 ms (missed cycles : 5).[0m ×2 + 29.19sWARNros2_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 + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704588 ms (missed cycles : 2). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704588 ms (missed cycles : 2).[0m ×2 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838270 ms (missed cycles : 7). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838270 ms (missed cycles : 7).[0m ×2 + 31.00sINFOros2_control_node[2026-09-10 00:54:08.117] [info] Received new action goal ×2 + 31.00sINFOros2_control_node[2026-09-10 00:54:08.117] [info] Accepted new action goal ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071162 ms (missed cycles : 2). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071162 ms (missed cycles : 2).[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965210 ms (missed cycles : 2). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965210 ms (missed cycles : 2).[0m ×2 + 33.61sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 33.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.67sINFOros2_control_node[2026-09-10 00:54:10.781] [info] Received new action goal ×2 + 33.67sINFOros2_control_node[2026-09-10 00:54:10.781] [info] Accepted new action goal ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780742 ms (missed cycles : 2). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780742 ms (missed cycles : 2).[0m ×2 + 35.31sWARNros2_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 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983806 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983806 ms (missed cycles : 2).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536614 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536614 ms (missed cycles : 3).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270551 ms (missed cycles : 4). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270551 ms (missed cycles : 4).[0m ×2 + 38.71sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198498 ms (missed cycles : 4). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198498 ms (missed cycles : 4).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387605 ms (missed cycles : 3). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387605 ms (missed cycles : 3).[0m ×2 + 40.35sWARNros2_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 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936156 ms (missed cycles : 4). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936156 ms (missed cycles : 4).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965795 ms (missed cycles : 5). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965795 ms (missed cycles : 5).[0m ×2 + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869713 ms (missed cycles : 5). + 42.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869713 ms (missed cycles : 5).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716479 ms (missed cycles : 2). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716479 ms (missed cycles : 2).[0m ×2 + 44.38sINFOros2_control_node[2026-09-10 00:54:21.490] [info] Received new action goal ×2 + 44.38sINFOros2_control_node[2026-09-10 00:54:21.490] [info] Accepted new action goal ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357348 ms (missed cycles : 4). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357348 ms (missed cycles : 4).[0m ×2 + 45.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789001662.64506412 seconds ×3 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638737 ms (missed cycles : 2). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638737 ms (missed cycles : 2).[0m ×2 + 46.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.11sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.30sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789001663.41431165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619017 ms (missed cycles : 4). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619017 ms (missed cycles : 4).[0m ×2 + 47.24sWARNros2_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 + 47.57sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 47.59sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.61sINFOros2_control_node[2026-09-10 00:54:24.719] [info] Received new action goal ×2 + 47.61sINFOros2_control_node[2026-09-10 00:54:24.719] [info] Accepted new action goal ×2 + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809535 ms (missed cycles : 4). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809535 ms (missed cycles : 4).[0m ×2 + 49.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151775 ms (missed cycles : 4). + 49.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151775 ms (missed cycles : 4).[0m ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	22.1s	91 warnings · 13290 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2182 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2182 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4364 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4364 + 0.00sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805665 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805665 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795883 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795883 ms (missed cycles : 2).[0m ×2 + 1.81sWARNros2_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 ×4 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352659 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352659 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001719.04963613 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.155224 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.155224 ms (missed cycles : 5).[0m ×2 + 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 + 3.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789001719.67527390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-09-10 00:55:19.820] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-10 00:55:19.820] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969029 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969029 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_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 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_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 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556504 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556504 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965026 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965026 ms (missed cycles : 2).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556211 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556211 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728579 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728579 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560762 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560762 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101256 ms (missed cycles : 5). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101256 ms (missed cycles : 5).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690291 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690291 ms (missed cycles : 2).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845329 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845329 ms (missed cycles : 2).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247863 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247863 ms (missed cycles : 2).[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797353 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797353 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196047 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196047 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560872 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560872 ms (missed cycles : 3).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750825 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750825 ms (missed cycles : 2).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854857 ms (missed cycles : 2). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854857 ms (missed cycles : 2).[0m ×2 + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780930 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780930 ms (missed cycles : 2).[0m ×2 + 20.89sWARNros2_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 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674887 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674887 ms (missed cycles : 2).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 25.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.24sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.25sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 26.25sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 26.77sWARNros2_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 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	14.6s	3 errors · 68 warnings · 268 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 1.43sINFOobjective_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 + 1.44sERRORobjective_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: 1789001554.75999641 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004798 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004798 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845435 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845435 ms (missed cycles : 3).[0m ×2 + 7.99sWARNros2_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 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594923 ms (missed cycles : 6). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594923 ms (missed cycles : 6).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176950 ms (missed cycles : 6). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176950 ms (missed cycles : 6).[0m ×2 + 10.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 10.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 10.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486214 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486214 ms (missed cycles : 4).[0m ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 10.99sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 10.99sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 11.01sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 11.11sINFOobjective_server_nodeFound path in 1 iterations (0.00376788 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 11.34sINFOros2_control_node[2026-09-10 00:52:44.663] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-09-10 00:52:44.663] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161012 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161012 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797193 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797193 ms (missed cycles : 3).[0m ×2 + 13.08sWARNros2_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 + 13.65sINFOros2_control_node[2026-09-10 00:52:46.966] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-09-10 00:52:46.966] [info] Accepted new action goal ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726301 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726301 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 15.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 15.53sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 16.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 17.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 17.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 18.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 18.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.28sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 18.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 18.30sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 18.30sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 19.27sWARNros2_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 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	12.1s	3 errors · 60 warnings · 239 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172679 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172679 ms (missed cycles : 2).[0m ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00330583 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.45sINFOros2_control_node[2026-09-10 00:53:21.021] [info] Received new action goal ×2 + 0.45sINFOros2_control_node[2026-09-10 00:53:21.021] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-09-10 00:53:21.453] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-09-10 00:53:21.453] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868302 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868302 ms (missed cycles : 3).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106515 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106515 ms (missed cycles : 4).[0m ×2 + 3.04sWARNros2_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 + 3.08sINFOobjective_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 + 3.09sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.09sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_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: 1789001603.66867709 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989007 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989007 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×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 + 3.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789001604.48364830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:53:24.667] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:53:24.667] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050385 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050385 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660537 ms (missed cycles : 5). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660537 ms (missed cycles : 5).[0m ×2 + 6.61sINFOros2_control_node[2026-09-10 00:53:27.174] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-10 00:53:27.174] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324031 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324031 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147334 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147334 ms (missed cycles : 4).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126398 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126398 ms (missed cycles : 2).[0m ×2 + 9.79sWARNros2_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 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258242 ms (missed cycles : 5). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258242 ms (missed cycles : 5).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385212 ms (missed cycles : 4). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385212 ms (missed cycles : 4).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830454 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830454 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789001615.73632121 seconds ×3 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2).[0m ×2 + 15.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.70sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789001616.32167792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789001616.38180804 seconds ×3 + 15.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4).[0m ×2 + 16.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.55sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.73sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.74sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 16.74sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 18.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3
✓ passed	Push Button	move_with_velocity_and_force.xml	11.8s	60 warnings · 220 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869713 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869713 ms (missed cycles : 5).[0m ×2 + 0.49sINFOobjective_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 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.50sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.50sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.50sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716479 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716479 ms (missed cycles : 2).[0m ×2 + 1.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-09-10 00:54:21.490] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-09-10 00:54:21.490] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357348 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357348 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789001662.64506412 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638737 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638737 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789001663.41431165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619017 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619017 ms (missed cycles : 4).[0m ×2 + 4.25sWARNros2_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 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.62sINFOros2_control_node[2026-09-10 00:54:24.719] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-10 00:54:24.719] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809535 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809535 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151775 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151775 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687379 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687379 ms (missed cycles : 3).[0m ×2 + 8.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.32sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.32sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022941 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022941 ms (missed cycles : 2).[0m ×2 + 9.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781160 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781160 ms (missed cycles : 2).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621775 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621775 ms (missed cycles : 3).[0m ×2 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 10.76sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.77sINFOros2_control_node[2026-09-10 00:54:30.869] [info] Received new action goal ×2 + 10.77sINFOros2_control_node[2026-09-10 00:54:30.869] [info] Accepted new action goal ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935572 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935572 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163383 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163383 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695792 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695792 ms (missed cycles : 2).[0m ×2 + 14.37sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789001674.47448730 seconds ×3 + 14.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.96sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310723 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310723 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789001675.13188362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.18sINFOros2_control_node[2026-09-10 00:54:35.285] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-09-10 00:54:35.285] [info] Accepted new action goal ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759210 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759210 ms (missed cycles : 2).[0m ×2 + 16.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.46sINFOobjective_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 + 16.47sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339897 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339897 ms (missed cycles : 3).[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569485 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569485 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	61 errors · 39 warnings · 391 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_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 + 0.11sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 0.11sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 0.11sERRORobjective_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: 1789001797.15992141 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.35sWARNros2_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 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.67sINFOobjective_server_nodecaller: ×8 + 0.67sINFOobjective_server_nodetype: 0 ×8 + 0.67sINFOobjective_server_nodename: "" ×8 + 0.67sINFOobjective_server_nodeinstance_id: "" ×8 + 0.67sINFOobjective_server_node ×8 + 0.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.00sINFOobjective_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 + 2.00sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.00sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789001800.86283112 seconds ×3 + 3.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677431 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677431 ms (missed cycles : 2).[0m ×2 + 6.56sWARNros2_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 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236062 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236062 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.853272 ms (missed cycles : 8). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.853272 ms (missed cycles : 8).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898799 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898799 ms (missed cycles : 2).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473619 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473619 ms (missed cycles : 2).[0m ×2 + 10.08sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.09sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORweb_video_auth_proxy-23process has died [pid 7489, 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 + 10.09sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.10sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORweb_bridge_auth_proxy-22process has died [pid 7488, 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 + 10.10sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.11sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.11sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.11sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.12sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.12sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.12sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.13sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.13sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.14sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.14sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.15sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.15sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.15sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.16sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.16sINFOcontroller_managerShutdown request received.... + 10.16sINFOvideo_server2026/09/10 00:56:47 INF shutting down gracefully ×2 + 10.16sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.16sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.16sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.16sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.16sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.16sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.16sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.16sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.16sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.16sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.16sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.16sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down the controller manager. + 10.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.16sINFOvideo_server2026/09/10 00:56:47 INF [WebRTC] closing ×2 + 10.16sINFOvideo_server2026/09/10 00:56:47 INF [RTSP] closing ×2 + 10.16sINFOvideo_server2026/09/10 00:56:47 INF waiting for running hooks ×2 + 10.16sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.17sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.17sERRORmove_groupStack trace (most recent call last) in thread 7832: ×2 + 10.17sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.17sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.17sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.17sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.17sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.17sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.17sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.17sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.17sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.17sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.17sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.17sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.17sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.17sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.17sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.17sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdff8a3a63, in __clone ×2 + 10.17sINFOvideo_server-21process has finished cleanly [pid 7487] ×2 + 10.17sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdff816aa3, in ×2 + 10.17sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdffaa8db3, in ×2 + 10.17sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fbe0020cb34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.17sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbdffe3a620, in rclcpp::Rate::sleep() ×2 + 10.17sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbdffd7cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.17sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbdffd3e087, in ×2 + 10.17sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdffa77390, in __cxa_throw ×2 + 10.17sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdffa61a54, in std::terminate() ×2 + 10.17sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdffa770d9, in ×2 + 10.17sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdffa61ff4, in ×2 + 10.17sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdff7a28fe, in abort ×2 + 10.17sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdff7bf27d, in raise ×2 + 10.17sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdff818b2c, in pthread_kill ×2 + 10.17sERRORmove_groupAborted (Signal sent by tkill() 7406 0) ×2 + 10.17sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.18sERRORmove_group-9process has died [pid 7406, 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_e10bx5vd --params-file /tmp/launch_params_99u68qw7 --params-file /tmp/launch_params_51p7o0q0 --params-file /tmp/launch_params_b5tgodgi --params-file /tmp/launch_params_9_q99v7x --params-file /tmp/launch_params_o478g86j']. ×2 + 10.37sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.37sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.16sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7475] ×2 + 11.16sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.18sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7410] ×2 + 11.19sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7409] ×2 + 11.22sINFOwaypoint_manager_node-11process has finished cleanly [pid 7408] ×2 + 11.23sINFOcomponent_container_mt-16process has finished cleanly [pid 7413] ×2 + 11.23sINFOui_teleop_bridge-18process has finished cleanly [pid 7415] ×2 + 11.24sINFOparameter_manager_node-10process has finished cleanly [pid 7407] ×2 + 11.24sINFOexecute_objective_bridge-17process has finished cleanly [pid 7414] ×2 + 11.31sINFOobjective_server_node[0;m[2026-09-10 00:56:48.358] [moveit_pro_license] [info] ×2 + 11.31sINFOobjective_server_node************************************************* ×4 + 11.31sINFOobjective_server_node* MoveIt Pro License ×2 + 11.31sINFOobjective_server_node* Application has successfully terminated ×2 + 11.44sINFOobjective_server_node_main-14process has finished cleanly [pid 7411] ×2 + 11.44sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.32sINFOcomponent_container_mt-15process has finished cleanly [pid 7412] ×2 + 12.51sINFOweb_bridge-19process has finished cleanly [pid 7416] ×2 + 12.51sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.80sINFOros2_control_node-1process has finished cleanly [pid 7355] ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	11.1s	6 errors · 60 warnings · 410 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 1.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.41sERRORobjective_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: 1789001784.65994382 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.01sINFOobjective_server_nodecaller: ×14 + 2.01sINFOobjective_server_nodetype: 0 ×14 + 2.01sINFOobjective_server_nodename: "" ×14 + 2.01sINFOobjective_server_nodeinstance_id: "" ×14 + 2.01sINFOobjective_server_node ×14 + 2.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5).[0m ×2 + 6.85sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.85sINFOros2_control_node[2026-09-10 00:56:30.099] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-10 00:56:30.099] [info] Accepted new action goal ×2 + 6.85sINFOros2_control_node[2026-09-10 00:56:30.099] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551995 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551995 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685839 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685839 ms (missed cycles : 4).[0m ×2 + 9.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293446 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293446 ms (missed cycles : 4).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414571 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414571 ms (missed cycles : 4).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[0m ×2 + 13.91sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 13.91sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 13.91sERRORobjective_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: 1789001797.15992141 seconds ×3 + 14.15sWARNros2_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 + 14.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.80sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.80sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.80sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 16.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.34sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 16.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5).[0m ×2
✓ passed	3 Waypoints Pick and Place with AprilTags	3_waypoint_pick_and_place_apriltags.xml	11.1s	6 errors · 54 warnings · 204 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234930 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234930 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962458 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962458 ms (missed cycles : 5).[0m ×2 + 1.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 2.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.10sINFOros2_control_node[2026-09-10 00:52:23.351] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-09-10 00:52:23.351] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763248 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763248 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.40sINFOros2_control_node[2026-09-10 00:52:23.657] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-10 00:52:23.657] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1789001543.67313361 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.04sINFOobjective_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: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.04sINFOobjective_server_nodecaller: ×6 + 3.04sINFOobjective_server_nodetype: 0 ×6 + 3.04sINFOobjective_server_nodename: "" ×6 + 3.04sINFOobjective_server_nodeinstance_id: "" ×6 + 3.04sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789001544.36944675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059521 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059521 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.34sINFOros2_control_node[2026-09-10 00:52:24.593] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-10 00:52:24.593] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287165 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287165 ms (missed cycles : 2).[0m ×2 + 5.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.60sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.61sINFOros2_control_node[2026-09-10 00:52:26.864] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-09-10 00:52:26.864] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759229 ms (missed cycles : 5). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759229 ms (missed cycles : 5).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288321 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288321 ms (missed cycles : 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555234 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555234 ms (missed cycles : 3).[0m ×2 + 8.18sWARNros2_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 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880565 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880565 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860281 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860281 ms (missed cycles : 3).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 13.50sERRORobjective_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: 1789001554.75999641 seconds ×3 + 14.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.05sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 14.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 14.41sWARNros2_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 + 14.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.78sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.04sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	9 errors · 60 warnings · 212 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871741 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871741 ms (missed cycles : 5).[0m ×2 + 0.46sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.72sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.72sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.72sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789001590.66335940 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915269 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915269 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877116 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877116 ms (missed cycles : 5).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531574 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531574 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789001593.27453136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.57sINFOros2_control_node[2026-09-10 00:53:13.479] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-09-10 00:53:13.479] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401349 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401349 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733466 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733466 ms (missed cycles : 2).[0m ×2 + 5.92sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913942 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913942 ms (missed cycles : 5).[0m ×2 + 6.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.33sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.43sINFOobjective_server_nodeFound path in 5 iterations (0.00538511 s). ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151535 ms (missed cycles : 7). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151535 ms (missed cycles : 7).[0m ×2 + 7.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.13sINFOros2_control_node[2026-09-10 00:53:18.032] [info] Received new action goal ×2 + 8.13sINFOros2_control_node[2026-09-10 00:53:18.032] [info] Accepted new action goal ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027704 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027704 ms (missed cycles : 5).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317695 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317695 ms (missed cycles : 5).[0m ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172679 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172679 ms (missed cycles : 2).[0m ×2 + 10.80sINFOobjective_server_nodeFound path in 1 iterations (0.00330583 s). ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.11sINFOros2_control_node[2026-09-10 00:53:21.021] [info] Received new action goal ×2 + 11.11sINFOros2_control_node[2026-09-10 00:53:21.021] [info] Accepted new action goal ×2 + 11.55sINFOros2_control_node[2026-09-10 00:53:21.453] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-09-10 00:53:21.453] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868302 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868302 ms (missed cycles : 3).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106515 ms (missed cycles : 4). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106515 ms (missed cycles : 4).[0m ×2 + 13.70sWARNros2_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 + 13.74sINFOobjective_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 + 13.75sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.75sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.75sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.76sERRORobjective_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: 1789001603.66867709 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989007 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989007 ms (missed cycles : 2).[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.47sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789001604.48364830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.76sINFOros2_control_node[2026-09-10 00:53:24.667] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-10 00:53:24.667] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050385 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050385 ms (missed cycles : 2).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660537 ms (missed cycles : 5). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660537 ms (missed cycles : 5).[0m ×2 + 17.27sINFOros2_control_node[2026-09-10 00:53:27.174] [info] Received new action goal ×2 + 17.27sINFOros2_control_node[2026-09-10 00:53:27.174] [info] Accepted new action goal ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324031 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324031 ms (missed cycles : 2).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.0s	6 errors · 55 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013398 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013398 ms (missed cycles : 2).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837863 ms (missed cycles : 5). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837863 ms (missed cycles : 5).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010700 ms (missed cycles : 5). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010700 ms (missed cycles : 5).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925522 ms (missed cycles : 5). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925522 ms (missed cycles : 5).[0m ×2 + 11.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541083 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541083 ms (missed cycles : 3).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451046 ms (missed cycles : 3). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451046 ms (missed cycles : 3).[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461886 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461886 ms (missed cycles : 2).[0m ×2 + 14.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789001763.15966034 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.79sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789001763.76228857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.21sINFOros2_control_node[2026-09-10 00:56:04.124] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-09-10 00:56:04.124] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784194 ms (missed cycles : 5). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784194 ms (missed cycles : 5).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602409 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602409 ms (missed cycles : 2).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.9s	3 errors · 54 warnings · 2182 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×330 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×330 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×660 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×660 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564258 ms (missed cycles : 6). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564258 ms (missed cycles : 6).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549339 ms (missed cycles : 5). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549339 ms (missed cycles : 5).[0m ×2 + 8.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 9.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 1 iterations (0.00417267 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.26sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.871172 ms (missed cycles : 8). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.871172 ms (missed cycles : 8).[0m ×2 + 9.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.27sINFOros2_control_node[2026-09-10 00:55:47.214] [info] Received new action goal ×2 + 9.27sINFOros2_control_node[2026-09-10 00:55:47.214] [info] Accepted new action goal ×2 + 10.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 11.58sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 11.58sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 13.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.44sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[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[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 14.22sINFOros2_control_node[2026-09-10 00:55:52.156] [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: 1789001752.17119765 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 + 14.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.81sINFOobjective_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 + 14.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 15.07sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 16.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 60 warnings · 190 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2 + 6.20sWARNros2_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 ×4 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.395959 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.395959 ms (missed cycles : 6).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878813 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878813 ms (missed cycles : 3).[0m ×2 + 7.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 5 iterations (0.00544672 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.842510 ms (missed cycles : 6). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.842510 ms (missed cycles : 6).[0m ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.70sINFOros2_control_node[2026-09-10 00:53:08.098] [info] Received new action goal ×2 + 8.70sINFOros2_control_node[2026-09-10 00:53:08.098] [info] Accepted new action goal ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209872 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209872 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871741 ms (missed cycles : 5). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871741 ms (missed cycles : 5).[0m ×2 + 10.96sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.23sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789001590.66335940 seconds ×3 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915269 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915269 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877116 ms (missed cycles : 5). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877116 ms (missed cycles : 5).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531574 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531574 ms (missed cycles : 3).[0m ×2 + 13.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789001593.27453136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 14.08sINFOros2_control_node[2026-09-10 00:53:13.479] [info] Received new action goal ×2 + 14.08sINFOros2_control_node[2026-09-10 00:53:13.479] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401349 ms (missed cycles : 6). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401349 ms (missed cycles : 6).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733466 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733466 ms (missed cycles : 2).[0m ×2 + 16.43sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913942 ms (missed cycles : 5). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913942 ms (missed cycles : 5).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.9s	3 errors · 57 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887109 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887109 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025442 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025442 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629601 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629601 ms (missed cycles : 6).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034194 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034194 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789001773.72717142 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.75sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.75sINFOobjective_server_nodecaller: ×8 + 3.75sINFOobjective_server_nodetype: 0 ×8 + 3.75sINFOobjective_server_nodename: "" ×8 + 3.75sINFOobjective_server_nodeinstance_id: "" ×8 + 3.75sINFOobjective_server_node ×8 + 3.81sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789001774.32966948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (7.72e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.94sINFOros2_control_node[2026-09-10 00:56:14.463] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-10 00:56:14.463] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225685 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225685 ms (missed cycles : 2).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122815 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122815 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062349 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062349 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296548 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296548 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002384 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002384 ms (missed cycles : 2).[0m ×2 + 9.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009550 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009550 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596749 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596749 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 14.13sINFOobjective_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 + 14.14sERRORobjective_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: 1789001784.65994382 seconds ×3 + 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 + 14.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 14.94sWARNros2_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 + 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 + 15.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 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: 1789001786.00995016 seconds ×3 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 16.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.26sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 16.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.27sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 16.27sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.8s	3 errors · 52 warnings · 222 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.42sINFOobjective_server_nodecaller: ×6 + 2.42sINFOobjective_server_nodetype: 0 ×6 + 2.42sINFOobjective_server_nodename: "" ×6 + 2.42sINFOobjective_server_nodeinstance_id: "" ×6 + 2.42sINFOobjective_server_node ×6 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759285 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759285 ms (missed cycles : 3).[0m ×2 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.70sINFOros2_control_node[2026-09-10 00:52:54.969] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-09-10 00:52:54.969] [info] Accepted new action goal ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079244 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079244 ms (missed cycles : 5).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728353 ms (missed cycles : 6). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728353 ms (missed cycles : 6).[0m ×2 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 9.04sINFOros2_control_node[2026-09-10 00:52:57.307] [info] Received new action goal ×2 + 9.04sINFOros2_control_node[2026-09-10 00:52:57.307] [info] Accepted new action goal ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425474 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425474 ms (missed cycles : 2).[0m ×2 + 11.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 11.40sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 11.40sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×2 + 13.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.39sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 13.39sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 13.40sERRORobjective_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: 1789001581.66810632 seconds ×3 + 13.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 14.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.25sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 14.25sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.7s	3 errors · 56 warnings · 426 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.73sINFOobjective_server_nodecaller: ×12 + 0.73sINFOobjective_server_nodetype: 0 ×12 + 0.73sINFOobjective_server_nodename: "" ×12 + 0.73sINFOobjective_server_nodeinstance_id: "" ×12 + 0.73sINFOobjective_server_node ×12 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.73sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.24sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565136 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565136 ms (missed cycles : 2).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.336383 ms (missed cycles : 6). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.336383 ms (missed cycles : 6).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874830 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874830 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 10.06sINFOros2_control_node[2026-09-10 00:52:20.001] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-09-10 00:52:20.001] [info] Accepted new action goal ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921533 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921533 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234930 ms (missed cycles : 4). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234930 ms (missed cycles : 4).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962458 ms (missed cycles : 5). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962458 ms (missed cycles : 5).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.41sINFOros2_control_node[2026-09-10 00:52:23.351] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-10 00:52:23.351] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763248 ms (missed cycles : 5). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763248 ms (missed cycles : 5).[0m ×2 + 13.71sINFOobjective_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 + 13.72sINFOros2_control_node[2026-09-10 00:52:23.657] [info] Got request to cancel active goal. ×2 + 13.72sINFOros2_control_node[2026-09-10 00:52:23.657] [info] Canceling active goal... ×2 + 13.73sERRORobjective_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: 1789001543.67313361 seconds ×3 + 13.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.35sINFOobjective_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: "" + 14.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789001544.36944675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059521 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059521 ms (missed cycles : 4).[0m ×2 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 14.65sINFOros2_control_node[2026-09-10 00:52:24.593] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-09-10 00:52:24.593] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287165 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287165 ms (missed cycles : 2).[0m ×2 + 16.91sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 16.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.92sINFOros2_control_node[2026-09-10 00:52:26.864] [info] Received new action goal ×2 + 16.92sINFOros2_control_node[2026-09-10 00:52:26.864] [info] Accepted new action goal ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759229 ms (missed cycles : 5). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759229 ms (missed cycles : 5).[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.6s	3 errors · 57 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925522 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925522 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541083 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541083 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451046 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451046 ms (missed cycles : 3).[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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461886 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461886 ms (missed cycles : 2).[0m ×2 + 3.20sERRORobjective_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: 1789001763.15966034 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789001763.76228857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.17sINFOros2_control_node[2026-09-10 00:56:04.124] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-10 00:56:04.124] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784194 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784194 ms (missed cycles : 5).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602409 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602409 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2).[0m ×2 + 7.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293660 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293660 ms (missed cycles : 2).[0m ×2 + 8.19sINFOros2_control_node[2026-09-10 00:56:08.142] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-10 00:56:08.142] [info] Accepted new action goal ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085857 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085857 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684520 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684520 ms (missed cycles : 3).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887109 ms (missed cycles : 5). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887109 ms (missed cycles : 5).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025442 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025442 ms (missed cycles : 2).[0m ×2 + 12.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629601 ms (missed cycles : 6). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629601 ms (missed cycles : 6).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034194 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034194 ms (missed cycles : 4).[0m ×2 + 13.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789001773.72717142 seconds ×3 + 14.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.31sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.37sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789001774.32966948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (7.72e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.51sINFOros2_control_node[2026-09-10 00:56:14.463] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-09-10 00:56:14.463] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225685 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225685 ms (missed cycles : 2).[0m ×2 + 15.87sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122815 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122815 ms (missed cycles : 3).[0m ×2 + 16.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062349 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062349 ms (missed cycles : 3).[0m ×2
✓ passed	Look at Table	look_at_table.xml	3.9s	34 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789001615.73632121 seconds ×3 + 2.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.57sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.57sINFOobjective_server_nodecaller: ×6 + 2.57sINFOobjective_server_nodetype: 0 ×6 + 2.57sINFOobjective_server_nodename: "" ×6 + 2.57sINFOobjective_server_nodeinstance_id: "" ×6 + 2.57sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789001616.32167792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789001616.38180804 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 7.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.15sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.30sINFOobjective_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 + 7.31sINFOobjective_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 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.65sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 7.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	1.7s	39 warnings · 690 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.11sINFOcomponent_container_mt[2026-09-10 00:52:05.600] [moveit_pro_license] [info] ×2 + 0.11sINFOcomponent_container_mt************************************************* ×4 + 0.11sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.11sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.31sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.31sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.31sWARNros2_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 + 0.31sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.31sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.31sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.31sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.31sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.31sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.31sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.31sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.31sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.31sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.31sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.31sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.31sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.31sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.31sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.31sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.31sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.31sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.31sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.31sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.31sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.31sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.51sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOforce_torque_sensor_broadcasterconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.54sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720578 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720578 ms (missed cycles : 2).[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.80sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.80sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.80sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.80sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.81sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.81sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.86sINFOros2-2process has finished cleanly [pid 7356] ×2 + 0.88sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.88sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.91sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.91sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 7357] ×2 + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 1.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.48sINFOros2_control_node[2026-09-10 00:52:06.974] [info] Controller state will be published at 20 Hz. ×2 + 1.49sINFOros2_control_node[2026-09-10 00:52:06.975] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.75sINFOros2-8process has finished cleanly [pid 7373] ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2).[0m ×2 + 1.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 1.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 1.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.85sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.85sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.88sINFOros2_control_node[2026-09-10 00:52:07.367] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-09-10 00:52:07.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 2.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.23sINFOros2-7process has finished cleanly [pid 7372] ×2 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.26sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.26sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.26sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.53sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.53sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.56sINFOros2-5process has finished cleanly [pid 7370] ×2 + 2.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 2.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 2.64sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.64sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.65sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.67sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.67sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 2.67sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×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 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.99sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.99sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.99sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 3.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 3.03sINFOros2-6process has finished cleanly [pid 7371] ×2 + 3.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.37sINFOros2-4process has finished cleanly [pid 7369] ×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 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 4.45sWARNros2_control_nodeCamera render tick took 1.83 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: 1789001530.09862328 seconds ×3 + 5.18sINFOobjective_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 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 5.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[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 + 6.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 7.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 7.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_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: 1789001532.94394207 seconds ×3 + 7.99sINFOobjective_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 + 8.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.18sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	3 errors · 27 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414571 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414571 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[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 + 3.22sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1789001797.15992141 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sWARNros2_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 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.79sINFOobjective_server_nodecaller: ×8 + 3.79sINFOobjective_server_nodetype: 0 ×8 + 3.79sINFOobjective_server_nodename: "" ×8 + 3.79sINFOobjective_server_nodeinstance_id: "" ×8 + 3.79sINFOobjective_server_node ×8 + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.11sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5).[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789001800.86283112 seconds ×3 + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4).
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	23 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726301 ms (missed cycles : 2).[0m ×2 + 0.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.57sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.34sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789001554.75999641 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 3.38sWARNros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	27 warnings · 537 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 + 0.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7373] ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2).[0m ×2 + 0.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-09-10 00:52:07.367] [info] Controller state will be published at 10 Hz. ×2 + 0.23sINFOros2_control_node[2026-09-10 00:52:07.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2-7process has finished cleanly [pid 7372] ×2 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.91sINFOros2-5process has finished cleanly [pid 7370] ×2 + 0.96sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.96sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.99sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 1.37sINFOros2-6process has finished cleanly [pid 7371] ×2 + 1.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.72sINFOros2-4process has finished cleanly [pid 7369] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[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 9.073405 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_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 + 2.56sERRORobjective_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: 1789001784.65994382 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 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 1.830454 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830454 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789001615.73632121 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789001616.32167792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789001616.38180804 seconds ×3 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.55sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.68sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 26 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_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 + 2.56sERRORobjective_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: 1789001784.65994382 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5).[0m ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 26 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 1.16sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 1.17sERRORobjective_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: 1789001797.15992141 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.41sWARNros2_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 + 1.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.06sINFOobjective_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 + 3.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789001800.86283112 seconds ×3 + 4.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677431 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677431 ms (missed cycles : 2).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 26 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 1.16sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 1.17sERRORobjective_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: 1789001797.15992141 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.41sWARNros2_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 + 1.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.00sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.06sINFOobjective_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 + 3.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789001800.86283112 seconds ×3 + 4.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851985 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677431 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677431 ms (missed cycles : 2).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 1.43sINFOobjective_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 + 1.44sERRORobjective_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: 1789001554.75999641 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	20 warnings · 121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	20 warnings · 2068 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×330 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×330 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×660 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×660 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	20 warnings · 2068 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×330 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×330 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×660 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×660 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_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 + 2.56sERRORobjective_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: 1789001784.65994382 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789001554.75999641 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 3.38sWARNros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863826 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1789001554.75999641 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 3.38sWARNros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 1.43sINFOobjective_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 + 1.44sERRORobjective_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: 1789001554.75999641 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 1.43sINFOobjective_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 + 1.44sERRORobjective_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: 1789001554.75999641 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874254 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709346 ms (missed cycles : 8).[0m ×2 + 1.43sINFOobjective_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 + 1.44sERRORobjective_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: 1789001554.75999641 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789001555.35821390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207628 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789001555.44833446 seconds ×3 + 2.34sWARNros2_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 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789001556.09246731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-10 00:52:36.297] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398792 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513571 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604200 ms (missed cycles : 5).[0m ×2
− skipped	Collect Training Data with Behaviors	collect_training_data_with_behaviors.xml	0.0s	20 warnings · 121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	20 warnings · 121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	20 warnings · 121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	20 warnings · 121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281013 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-10 00:52:48.847] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304435 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789001570.14397550 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173817 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789001570.75627875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789001570.83641458 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789001571.48563766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-10 00:52:51.620] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344100 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307103 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698324 ms (missed cycles : 4).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755035 ms (missed cycles : 5).[0m ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-09-10 00:52:59.667] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657398 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071541 ms (missed cycles : 4).[0m ×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 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-10 00:53:01.655] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1789001581.66810632 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789001582.31116915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 00:53:02.515] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248950 ms (missed cycles : 2).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772089 ms (missed cycles : 8).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089551 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 23 warnings · 101 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172679 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172679 ms (missed cycles : 2).[0m ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00330583 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOros2_control_node[2026-09-10 00:53:21.021] [info] Received new action goal ×2 + 0.45sINFOros2_control_node[2026-09-10 00:53:21.021] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-09-10 00:53:21.453] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-09-10 00:53:21.453] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868302 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868302 ms (missed cycles : 3).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106515 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106515 ms (missed cycles : 4).[0m ×2 + 3.04sWARNros2_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 + 3.08sINFOobjective_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 + 3.09sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.09sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_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: 1789001603.66867709 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989007 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989007 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789001604.48364830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:53:24.667] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:53:24.667] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050385 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050385 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660537 ms (missed cycles : 5). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660537 ms (missed cycles : 5).[0m ×2 + 6.61sINFOros2_control_node[2026-09-10 00:53:27.174] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-10 00:53:27.174] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324031 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324031 ms (missed cycles : 2).[0m ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	23 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830454 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830454 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170798 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789001615.73632121 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093127 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789001616.32167792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789001616.38180804 seconds ×3 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553507 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.55sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.68sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789001617.17933059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-10 00:53:37.303] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238603 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945977 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789001619.30949211 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094420 ms (missed cycles : 4).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789001620.92770410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246915 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-10 00:53:41.355] [info] Accepted new action goal ×2 + 4.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166778 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426726 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	23 warnings · 84 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935572 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935572 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163383 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163383 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695792 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695792 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789001674.47448730 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOobjective_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: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310723 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310723 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789001675.13188362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.48sINFOros2_control_node[2026-09-10 00:54:35.285] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-10 00:54:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759210 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759210 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.75sINFOobjective_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 + 4.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 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_admittance_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339897 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339897 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569485 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569485 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	20 warnings · 2068 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×330 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×330 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×660 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×660 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	20 warnings · 2068 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×330 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×330 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×660 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×660 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	20 warnings · 2068 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×330 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×330 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×660 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×660 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703272 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935863 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723878 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789001741.16589451 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316847 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_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: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789001741.85625029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-10 00:55:42.080] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117205 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_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 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331328 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358762 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-10 00:55:49.516] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869974 ms (missed cycles : 5).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862362 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-09-10 00:55:51.380] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289029 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-09-10 00:55:52.156] [info] Canceling active goal... ×2 + 3.26sERRORobjective_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: 1789001752.17119765 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789001752.83921909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 00:55:53.013] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788255 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734938 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_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 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359497 ms (missed cycles : 6).[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 7.925522 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925522 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541083 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541083 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451046 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451046 ms (missed cycles : 3).[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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461886 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461886 ms (missed cycles : 2).[0m ×2 + 3.20sERRORobjective_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: 1789001763.15966034 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789001763.76228857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.17sINFOros2_control_node[2026-09-10 00:56:04.124] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-10 00:56:04.124] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784194 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784194 ms (missed cycles : 5).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602409 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602409 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2).[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	23 warnings · 66 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887109 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887109 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025442 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025442 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629601 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629601 ms (missed cycles : 6).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034194 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034194 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789001773.72717142 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789001774.32966948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (7.72e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.94sINFOros2_control_node[2026-09-10 00:56:14.463] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-10 00:56:14.463] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225685 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225685 ms (missed cycles : 2).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122815 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122815 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062349 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062349 ms (missed cycles : 3).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_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 + 2.56sERRORobjective_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: 1789001784.65994382 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_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 + 2.56sERRORobjective_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: 1789001784.65994382 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073405 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_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 + 2.56sERRORobjective_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: 1789001784.65994382 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[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 3.281861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 1.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sERRORobjective_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: 1789001784.65994382 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.01sINFOobjective_server_nodecaller: ×6 + 2.01sINFOobjective_server_nodetype: 0 ×6 + 2.01sINFOobjective_server_nodename: "" ×6 + 2.01sINFOobjective_server_nodeinstance_id: "" ×6 + 2.01sINFOobjective_server_node ×6 + 2.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5).[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 3.281861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 1.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sERRORobjective_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: 1789001784.65994382 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.01sINFOobjective_server_nodecaller: ×6 + 2.01sINFOobjective_server_nodetype: 0 ×6 + 2.01sINFOobjective_server_nodename: "" ×6 + 2.01sINFOobjective_server_nodeinstance_id: "" ×6 + 2.01sINFOobjective_server_node ×6 + 2.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5).[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 3.281861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281861 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475364 ms (missed cycles : 4).[0m ×2 + 1.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sERRORobjective_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: 1789001784.65994382 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.01sINFOobjective_server_nodecaller: ×6 + 2.01sINFOobjective_server_nodetype: 0 ×6 + 2.01sINFOobjective_server_nodename: "" ×6 + 2.01sINFOobjective_server_nodeinstance_id: "" ×6 + 2.01sINFOobjective_server_node ×6 + 2.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789001785.31242681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783492 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789001785.38257718 seconds ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789001785.98783445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789001786.00995016 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883840 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789001786.67533469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 00:56:26.789] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414239 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780076 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842856 ms (missed cycles : 5).[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 5.414571 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414571 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[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 + 3.22sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1789001797.15992141 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sWARNros2_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 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.79sINFOobjective_server_nodecaller: ×8 + 3.79sINFOobjective_server_nodetype: 0 ×8 + 3.79sINFOobjective_server_nodename: "" ×8 + 3.79sINFOobjective_server_nodeinstance_id: "" ×8 + 3.79sINFOobjective_server_node ×8 + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.11sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 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 5.414571 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414571 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469529 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616214 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334029 ms (missed cycles : 2).[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 + 3.22sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-10 00:56:37.155] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1789001797.15992141 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sWARNros2_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 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.79sINFOobjective_server_nodecaller: ×8 + 3.79sINFOobjective_server_nodetype: 0 ×8 + 3.79sINFOobjective_server_nodename: "" ×8 + 3.79sINFOobjective_server_nodeinstance_id: "" ×8 + 3.79sINFOobjective_server_node ×8 + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789001797.77348256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291386 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789001798.45366502 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789001799.04885411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.11sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789001799.05088878 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779318 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789001799.64429402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789001799.66504622 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789001800.26270008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880286 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/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	7.1s	40 warnings · 749 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-10-00-52-01-328356-c4aae767665f-7307 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520595 ms (missed cycles : 2). + 0.91sINFOros2_control_node-1process started with pid [7355] ×2 + 0.91sINFOmove_group-9process started with pid [7406] ×2 + 0.91sINFOparameter_manager_node-10process started with pid [7407] ×2 + 0.91sINFOwaypoint_manager_node-11process started with pid [7408] ×2 + 0.91sINFOmove_joint_resampler_node-12process started with pid [7409] ×2 + 0.91sINFOmove_end_effector_resampler_node-13process started with pid [7410] ×2 + 0.91sINFOobjective_server_node_main-14process started with pid [7411] ×2 + 0.91sINFOcomponent_container_mt-15process started with pid [7412] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [7413] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [7414] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [7415] ×2 + 0.91sINFOweb_bridge-19process started with pid [7416] ×2 + 0.91sINFOtf2_web_republisher_node-20process started with pid [7475] ×2 + 0.91sINFOvideo_server-21process started with pid [7487] ×2 + 0.91sINFOweb_bridge_auth_proxy-22process started with pid [7488] ×2 + 0.91sINFOweb_video_auth_proxy-23process started with pid [7489] ×2 + 0.91sINFOros2-2process started with pid [7356] ×2 + 0.91sINFOros2-3process started with pid [7357] ×2 + 0.91sINFOros2-4process started with pid [7369] ×2 + 0.91sINFOros2-5process started with pid [7370] ×2 + 0.91sINFOros2-6process started with pid [7371] ×2 + 0.91sINFOros2-7process started with pid [7372] ×2 + 0.91sINFOros2-8process started with pid [7373] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520595 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerReceived robot description from topic. + 0.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.99sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.29sINFOvideo_server2026/09/10 00:52:03 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/09/10 00:52:03 INF configuration loaded from /tmp/moveit-webrtc-d5pfyd4_/mediamtx.yml ×2 + 1.30sINFOvideo_server2026/09/10 00:52:03 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.30sINFOvideo_server2026/09/10 00:52:03 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.81sINFOmove_group[2026-09-10 00:52:03.520] [moveit_pro_license] [info] ×2 + 1.81sINFOmove_group************************************************* ×4 + 1.81sINFOmove_group* MoveIt Pro License ×2 + 1.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.98sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.98sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.00sINFOros2_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 + 2.00sINFOros2_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 + 2.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322477 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322477 ms (missed cycles : 5).[0m ×2 + 2.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.15sINFOwaypoint_manager_node[2026-09-10 00:52:03.861] [moveit_pro_license] [info] ×2 + 2.15sINFOwaypoint_manager_node************************************************* ×4 + 2.15sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.15sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.19sINFOmove_group ×4 + 2.20sINFOmove_group[92mYou can start planning now![0m ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.30sINFOobjective_server_node[2026-09-10 00:52:05.012] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOobjective_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 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.44sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.59sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.59sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.89sINFOcomponent_container_mt[2026-09-10 00:52:05.600] [moveit_pro_license] [info] ×2 + 3.89sINFOcomponent_container_mt************************************************* ×4 + 3.89sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.89sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.08sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.09sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.09sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.09sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.09sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.09sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.09sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.09sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.09sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.09sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.09sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.09sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.09sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.09sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.09sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.09sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.09sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.09sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.09sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.09sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.09sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.09sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.09sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.09sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.09sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 4.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 4.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.30sINFOforce_torque_sensor_broadcasterconfigure successful + 4.30sINFOros2_control_nodeconfigure successful[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720578 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720578 ms (missed cycles : 2).[0m ×2 + 4.57sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.57sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.57sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.57sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.58sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 4.58sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 4.59sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.59sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.61sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.61sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.61sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.61sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.61sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.64sINFOros2-2process has finished cleanly [pid 7356] ×2 + 4.66sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.66sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.68sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.68sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.07sINFOros2-3process has finished cleanly [pid 7357] ×2 + 5.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 5.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 5.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.26sINFOros2_control_node[2026-09-10 00:52:06.974] [info] Controller state will be published at 20 Hz. ×2 + 5.26sINFOros2_control_node[2026-09-10 00:52:06.975] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.50sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.50sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.53sINFOros2-8process has finished cleanly [pid 7373] ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2).[0m ×2 + 5.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 5.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 5.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.65sINFOros2_control_node[2026-09-10 00:52:07.367] [info] Controller state will be published at 10 Hz. ×2 + 5.66sINFOros2_control_node[2026-09-10 00:52:07.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 5.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 6.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.01sINFOros2-7process has finished cleanly [pid 7372] ×2 + 6.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.02sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.02sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.03sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.03sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.03sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.03sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.03sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.04sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.04sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.31sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.31sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.34sINFOros2-5process has finished cleanly [pid 7370] ×2 + 6.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 6.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 6.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.42sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.42sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.45sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.45sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 6.45sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.63sINFOobjective_server_nodecaller: ×10 + 6.63sINFOobjective_server_nodetype: 0 ×10 + 6.63sINFOobjective_server_nodename: "" ×10 + 6.63sINFOobjective_server_nodeinstance_id: "" ×10 + 6.63sINFOobjective_server_node ×10 + 6.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 6.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 6.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.77sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 6.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 6.80sINFOros2-6process has finished cleanly [pid 7371] ×2 + 6.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.81sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.81sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.82sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.15sINFOros2-4process has finished cleanly [pid 7369] ×2 + 7.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 8.23sWARNros2_control_nodeCamera render tick took 1.83 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 + 8.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 8.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 9.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 9.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 10.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 378 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7371] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 7369] ×2 + 0.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.46sINFOobjective_server_nodecaller: ×12 + 0.46sINFOobjective_server_nodetype: 0 ×12 + 0.46sINFOobjective_server_nodename: "" ×12 + 0.46sINFOobjective_server_nodeinstance_id: "" ×12 + 0.46sINFOobjective_server_node ×12 + 0.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.19sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 7.34sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 7.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.70sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
✓ passed	—	reset_planning_scene.xml	0.7s	25 warnings · 443 info
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2-5process has finished cleanly [pid 7370] ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.17sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.36sINFOobjective_server_nodecaller: ×14 + 0.36sINFOobjective_server_nodetype: 0 ×14 + 0.36sINFOobjective_server_nodename: "" ×14 + 0.36sINFOobjective_server_nodeinstance_id: "" ×14 + 0.36sINFOobjective_server_node ×14 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.53sINFOros2-6process has finished cleanly [pid 7371] ×2 + 0.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.54sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.88sINFOros2-4process has finished cleanly [pid 7369] ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 184 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/2026-09-10-00-52-01-328356-c4aae767665f-7307 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520595 ms (missed cycles : 2). + 0.91sINFOros2_control_node-1process started with pid [7355] ×2 + 0.91sINFOmove_group-9process started with pid [7406] ×2 + 0.91sINFOparameter_manager_node-10process started with pid [7407] ×2 + 0.91sINFOwaypoint_manager_node-11process started with pid [7408] ×2 + 0.91sINFOmove_joint_resampler_node-12process started with pid [7409] ×2 + 0.91sINFOmove_end_effector_resampler_node-13process started with pid [7410] ×2 + 0.91sINFOobjective_server_node_main-14process started with pid [7411] ×2 + 0.91sINFOcomponent_container_mt-15process started with pid [7412] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [7413] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [7414] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [7415] ×2 + 0.91sINFOweb_bridge-19process started with pid [7416] ×2 + 0.91sINFOtf2_web_republisher_node-20process started with pid [7475] ×2 + 0.91sINFOvideo_server-21process started with pid [7487] ×2 + 0.91sINFOweb_bridge_auth_proxy-22process started with pid [7488] ×2 + 0.91sINFOweb_video_auth_proxy-23process started with pid [7489] ×2 + 0.91sINFOros2-2process started with pid [7356] ×2 + 0.91sINFOros2-3process started with pid [7357] ×2 + 0.91sINFOros2-4process started with pid [7369] ×2 + 0.91sINFOros2-5process started with pid [7370] ×2 + 0.91sINFOros2-6process started with pid [7371] ×2 + 0.91sINFOros2-7process started with pid [7372] ×2 + 0.91sINFOros2-8process started with pid [7373] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520595 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerReceived robot description from topic. + 0.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.99sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.29sINFOvideo_server2026/09/10 00:52:03 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/09/10 00:52:03 INF configuration loaded from /tmp/moveit-webrtc-d5pfyd4_/mediamtx.yml ×2 + 1.30sINFOvideo_server2026/09/10 00:52:03 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.30sINFOvideo_server2026/09/10 00:52:03 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.81sINFOmove_group[2026-09-10 00:52:03.520] [moveit_pro_license] [info] ×2 + 1.81sINFOmove_group************************************************* ×4 + 1.81sINFOmove_group* MoveIt Pro License ×2 + 1.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.98sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.98sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.00sINFOros2_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 + 2.00sINFOros2_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 + 2.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322477 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322477 ms (missed cycles : 5).[0m ×2 + 2.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.15sINFOwaypoint_manager_node[2026-09-10 00:52:03.861] [moveit_pro_license] [info] ×2 + 2.15sINFOwaypoint_manager_node************************************************* ×4 + 2.15sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.15sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.19sINFOmove_group ×4 + 2.20sINFOmove_group[92mYou can start planning now![0m ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.30sINFOobjective_server_node[2026-09-10 00:52:05.012] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOobjective_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 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.44sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.59sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.59sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	27 warnings · 537 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 + 0.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7373] ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2).[0m ×2 + 0.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-09-10 00:52:07.367] [info] Controller state will be published at 10 Hz. ×2 + 0.23sINFOros2_control_node[2026-09-10 00:52:07.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2-7process has finished cleanly [pid 7372] ×2 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.91sINFOros2-5process has finished cleanly [pid 7370] ×2 + 0.96sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.96sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.99sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 1.37sINFOros2-6process has finished cleanly [pid 7371] ×2 + 1.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.72sINFOros2-4process has finished cleanly [pid 7369] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2
− skipped	—	createvector.xml	0.0s	27 warnings · 537 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 + 0.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7373] ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2).[0m ×2 + 0.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-09-10 00:52:07.367] [info] Controller state will be published at 10 Hz. ×2 + 0.23sINFOros2_control_node[2026-09-10 00:52:07.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2-7process has finished cleanly [pid 7372] ×2 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.91sINFOros2-5process has finished cleanly [pid 7370] ×2 + 0.96sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.96sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.99sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 1.37sINFOros2-6process has finished cleanly [pid 7371] ×2 + 1.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.72sINFOros2-4process has finished cleanly [pid 7369] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	27 warnings · 537 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 + 0.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7373] ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791629 ms (missed cycles : 2).[0m ×2 + 0.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-09-10 00:52:07.367] [info] Controller state will be published at 10 Hz. ×2 + 0.23sINFOros2_control_node[2026-09-10 00:52:07.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2-7process has finished cleanly [pid 7372] ×2 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.91sINFOros2-5process has finished cleanly [pid 7370] ×2 + 0.96sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.96sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.99sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 1.02sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 1.37sINFOros2-6process has finished cleanly [pid 7371] ×2 + 1.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.72sINFOros2-4process has finished cleanly [pid 7369] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2
− skipped	—	request_teleoperation.xml	0.0s	22 warnings · 443 info
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2-5process has finished cleanly [pid 7370] ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_node[2026-09-10 00:52:08.135] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.17sINFOros2_control_node[2026-09-10 00:52:08.158] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-09-10 00:52:08.158] [info] Controller state will be published at 50 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-10 00:52:08.164] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.36sINFOobjective_server_nodecaller: ×14 + 0.36sINFOobjective_server_nodetype: 0 ×14 + 0.36sINFOobjective_server_nodename: "" ×14 + 0.36sINFOobjective_server_nodeinstance_id: "" ×14 + 0.36sINFOobjective_server_node ×14 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789001528.39017653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789001528.40041566 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743131 ms (missed cycles : 2).[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.53sINFOros2-6process has finished cleanly [pid 7371] ×2 + 0.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.54sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.88sINFOros2-4process has finished cleanly [pid 7369] ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2
− skipped	—	teleoperate.xml	0.0s	22 warnings · 362 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyc0q52n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rud86606 --params-file /tmp/launch_params_cb0mbcnp [0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7371] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 7369] ×2 + 0.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.46sINFOobjective_server_nodecaller: ×12 + 0.46sINFOobjective_server_nodetype: 0 ×12 + 0.46sINFOobjective_server_nodename: "" ×12 + 0.46sINFOobjective_server_nodeinstance_id: "" ×12 + 0.46sINFOobjective_server_node ×12 + 0.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789001528.98841190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.19sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

3 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 322 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735904 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789001530.09862328 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.04sINFOobjective_server_nodecaller: ×10 + 1.04sINFOobjective_server_nodetype: 0 ×10 + 1.04sINFOobjective_server_nodename: "" ×10 + 1.04sINFOobjective_server_nodeinstance_id: "" ×10 + 1.04sINFOobjective_server_node ×10 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793740 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789001530.72129726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789001530.78151655 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789001531.44080615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789001531.46093345 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929531 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789001532.05882883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789001532.20940781 seconds ×3 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789001532.89382076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792295 ms (missed cycles : 3).[0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789001532.94394207 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789001533.54672480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.4612e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-10 00:52:13.673] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509056 ms (missed cycles : 5).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264087 ms (missed cycles : 4).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620121 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-10 00:52:16.181] [info] Accepted new action goal ×2