124
Total objective tests
32
Objectives passed
0
Objectives failed
92
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 163 warnings · 21216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313826 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313826 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141161 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141161 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208980 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208980 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789003375.79305863 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618416 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618416 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_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: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789003376.43656373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.45sINFOros2_control_node[2026-09-10 01:22:56.600] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-10 01:22:56.600] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.783307 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.783307 ms (missed cycles : 8).[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153894 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153894 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016429 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016429 ms (missed cycles : 2).[0m ×2 + 6.77sINFOjoint_trajectory_controllerReceived new action goal ×3492 + 6.77sINFOjoint_trajectory_controllerAccepted new action goal ×3492 + 6.77sINFOros2_control_nodeReceived new action goal[0m ×6984 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×6984 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980918 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980918 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885112 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885112 ms (missed cycles : 2).[0m ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515258 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515258 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467089 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467089 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884149 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884149 ms (missed cycles : 2).[0m ×2 + 11.79sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.79sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.80sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902443 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902443 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080671 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080671 ms (missed cycles : 2).[0m ×2 + 14.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937229 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937229 ms (missed cycles : 2).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152122 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152122 ms (missed cycles : 2).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772700 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772700 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.631799 ms (missed cycles : 5). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.631799 ms (missed cycles : 5).[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854202 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854202 ms (missed cycles : 3).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984090 ms (missed cycles : 2). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984090 ms (missed cycles : 2).[0m ×2 + 20.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038746 ms (missed cycles : 2). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038746 ms (missed cycles : 2).[0m ×2 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770458 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770458 ms (missed cycles : 2).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103182 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103182 ms (missed cycles : 2).[0m ×2 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912135 ms (missed cycles : 2). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912135 ms (missed cycles : 2).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436064 ms (missed cycles : 2). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436064 ms (missed cycles : 2).[0m ×2 + 25.07sWARNros2_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 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224307 ms (missed cycles : 4). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224307 ms (missed cycles : 4).[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094822 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094822 ms (missed cycles : 2).[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246285 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246285 ms (missed cycles : 2).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085262 ms (missed cycles : 2). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085262 ms (missed cycles : 2).[0m ×2 + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707433 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707433 ms (missed cycles : 2).[0m ×2 + 30.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487854 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487854 ms (missed cycles : 2).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013581 ms (missed cycles : 2). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013581 ms (missed cycles : 2).[0m ×2 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966517 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966517 ms (missed cycles : 2).[0m ×2 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936113 ms (missed cycles : 2). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936113 ms (missed cycles : 2).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141098 ms (missed cycles : 2). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141098 ms (missed cycles : 2).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360849 ms (missed cycles : 2). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360849 ms (missed cycles : 2).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140340 ms (missed cycles : 4). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140340 ms (missed cycles : 4).[0m ×2 + 37.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937302 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937302 ms (missed cycles : 2).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.305917 ms (missed cycles : 6). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.305917 ms (missed cycles : 6).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154825 ms (missed cycles : 2). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154825 ms (missed cycles : 2).[0m ×2 + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468415 ms (missed cycles : 3). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468415 ms (missed cycles : 3).[0m ×2 + 42.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242904 ms (missed cycles : 2). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242904 ms (missed cycles : 2).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089320 ms (missed cycles : 2). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089320 ms (missed cycles : 2).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853030 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853030 ms (missed cycles : 2).[0m ×2 + 45.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 45.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164760 ms (missed cycles : 2). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164760 ms (missed cycles : 2).[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121215 ms (missed cycles : 2). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121215 ms (missed cycles : 2).[0m ×2 + 47.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003420.32826400 seconds ×3 + 47.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.43sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.72sINFOobjective_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: ""
+ 47.72sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789003420.95575237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157570 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157570 ms (missed cycles : 2).[0m ×2 + 47.86sINFOobjective_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 + 47.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.96sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 47.97sINFOros2_control_node[2026-09-10 01:23:41.119] [info] Received new action goal ×2 + 47.97sINFOros2_control_node[2026-09-10 01:23:41.119] [info] Accepted new action goal ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073381 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073381 ms (missed cycles : 2).[0m ×2 + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298381 ms (missed cycles : 2). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298381 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.4s | 150 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 7.05sINFOros2_control_node[2026-09-10 01:22:05.551] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-09-10 01:22:05.551] [info] Accepted new action goal ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680105 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680105 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739617 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739617 ms (missed cycles : 2).[0m ×2 + 9.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751640 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751640 ms (missed cycles : 3).[0m ×2 + 10.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.39sINFOros2_control_node[2026-09-10 01:22:08.891] [info] Received new action goal ×2 + 10.39sINFOros2_control_node[2026-09-10 01:22:08.891] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586041 ms (missed cycles : 6). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586041 ms (missed cycles : 6).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133802 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133802 ms (missed cycles : 2).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479617 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479617 ms (missed cycles : 4).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.41sINFOros2_control_node[2026-09-10 01:22:11.914] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-10 01:22:11.914] [info] Accepted new action goal ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945468 ms (missed cycles : 4). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945468 ms (missed cycles : 4).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206728 ms (missed cycles : 4). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206728 ms (missed cycles : 4).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214905 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214905 ms (missed cycles : 2).[0m ×2 + 16.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.38sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.38sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.38sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735438 ms (missed cycles : 4). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735438 ms (missed cycles : 4).[0m ×2 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785722 ms (missed cycles : 4). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785722 ms (missed cycles : 4).[0m ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168012 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168012 ms (missed cycles : 3).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368607 ms (missed cycles : 4). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368607 ms (missed cycles : 4).[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748003 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748003 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235358 ms (missed cycles : 2). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235358 ms (missed cycles : 2).[0m ×2 + 23.19sINFOobjective_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 + 23.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.19sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.19sINFOros2_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 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999821 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999821 ms (missed cycles : 2).[0m ×2 + 24.13sINFOros2_control_node[2026-09-10 01:22:22.635] [info] Received new action goal ×2 + 24.13sINFOros2_control_node[2026-09-10 01:22:22.635] [info] Accepted new action goal ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201253 ms (missed cycles : 4). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201253 ms (missed cycles : 4).[0m ×2 + 25.30sINFOobjective_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 + 25.31sINFOobjective_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 + 25.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 25.59sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.63sINFOros2_control_node[2026-09-10 01:22:24.128] [info] Received new action goal ×2 + 25.63sINFOros2_control_node[2026-09-10 01:22:24.128] [info] Accepted new action goal ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467386 ms (missed cycles : 2). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467386 ms (missed cycles : 2).[0m ×2 + 26.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954260 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954260 ms (missed cycles : 2).[0m ×2 + 27.75sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 27.75sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.76sINFOros2_control_node[2026-09-10 01:22:26.266] [info] Received new action goal ×2 + 27.76sINFOros2_control_node[2026-09-10 01:22:26.266] [info] Accepted new action goal ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859287 ms (missed cycles : 2). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859287 ms (missed cycles : 2).[0m ×2 + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293097 ms (missed cycles : 2). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293097 ms (missed cycles : 2).[0m ×2 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751346 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751346 ms (missed cycles : 3).[0m ×2 + 30.91sINFOros2_control_node[2026-09-10 01:22:29.416] [info] Received new action goal ×2 + 30.91sINFOros2_control_node[2026-09-10 01:22:29.416] [info] Accepted new action goal ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016432 ms (missed cycles : 3). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016432 ms (missed cycles : 3).[0m ×2 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071206 ms (missed cycles : 2). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071206 ms (missed cycles : 2).[0m ×2 + 33.50sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 33.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.56sINFOros2_control_node[2026-09-10 01:22:32.061] [info] Received new action goal ×2 + 33.56sINFOros2_control_node[2026-09-10 01:22:32.061] [info] Accepted new action goal ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205277 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205277 ms (missed cycles : 2).[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482464 ms (missed cycles : 4). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482464 ms (missed cycles : 4).[0m ×2 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167340 ms (missed cycles : 3). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167340 ms (missed cycles : 3).[0m ×2 + 36.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177433 ms (missed cycles : 5). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177433 ms (missed cycles : 5).[0m ×2 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636209 ms (missed cycles : 2). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636209 ms (missed cycles : 2).[0m ×2 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972808 ms (missed cycles : 3). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972808 ms (missed cycles : 3).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215846 ms (missed cycles : 4). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215846 ms (missed cycles : 4).[0m ×2 + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214666 ms (missed cycles : 7). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214666 ms (missed cycles : 7).[0m ×2 + 41.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 42.07sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034700 ms (missed cycles : 2). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034700 ms (missed cycles : 2).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891971 ms (missed cycles : 3). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891971 ms (missed cycles : 3).[0m ×2 + 44.34sINFOros2_control_node[2026-09-10 01:22:42.847] [info] Received new action goal ×2 + 44.34sINFOros2_control_node[2026-09-10 01:22:42.847] [info] Accepted new action goal ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806683 ms (missed cycles : 4). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806683 ms (missed cycles : 4).[0m ×2 + 45.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789003364.00365281 seconds ×3 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535641 ms (missed cycles : 2). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535641 ms (missed cycles : 2).[0m ×2 + 46.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.08sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.27sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789003364.77078819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.810390 ms (missed cycles : 8). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.810390 ms (missed cycles : 8).[0m ×2 + 47.48sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 47.50sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.51sINFOros2_control_node[2026-09-10 01:22:46.015] [info] Received new action goal ×2 + 47.51sINFOros2_control_node[2026-09-10 01:22:46.015] [info] Accepted new action goal ×2 + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368076 ms (missed cycles : 6). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368076 ms (missed cycles : 6).[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 · 14848 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×4884 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4884 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2441 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2441 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853030 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853030 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×4 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164760 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164760 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121215 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121215 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003420.32826400 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.23sINFOcontroller_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.47sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789003420.95575237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157570 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157570 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.01sINFOros2_control_node[2026-09-10 01:23:41.119] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-10 01:23:41.119] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073381 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073381 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.36sINFOobjective_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 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298381 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298381 ms (missed cycles : 2).[0m ×2 + 7.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×4 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809330 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809330 ms (missed cycles : 2).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336289 ms (missed cycles : 4). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336289 ms (missed cycles : 4).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063317 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063317 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013077 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013077 ms (missed cycles : 2).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918469 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918469 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793073 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793073 ms (missed cycles : 2).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816609 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816609 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679197 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679197 ms (missed cycles : 2).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875641 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875641 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768078 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768078 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132079 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132079 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230505 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230505 ms (missed cycles : 2).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748721 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748721 ms (missed cycles : 2).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003734 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003734 ms (missed cycles : 3).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651987 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651987 ms (missed cycles : 2).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 25.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 25.95sINFOobjective_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: ""
+ 25.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 26.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.24sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.25sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 26.25sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 27.93sWARNros2_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 + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949099 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949099 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 1 iterations (0.00297857 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.69sINFOros2_control_node[2026-09-10 01:21:43.091] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-10 01:21:43.091] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245327 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245327 ms (missed cycles : 4).[0m ×2 + 1.12sINFOros2_control_node[2026-09-10 01:21:43.523] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-10 01:21:43.523] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411516 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411516 ms (missed cycles : 4).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.67sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.67sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.69sERRORobjective_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: 1789003305.08873963 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504867 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504867 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789003305.89982438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.66sINFOros2_control_node[2026-09-10 01:21:46.065] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-10 01:21:46.065] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850466 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850466 ms (missed cycles : 2).[0m ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851227 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851227 ms (missed cycles : 2).[0m ×2 + 6.15sINFOros2_control_node[2026-09-10 01:21:48.554] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-10 01:21:48.554] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177649 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177649 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627938 ms (missed cycles : 4). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627938 ms (missed cycles : 4).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029329 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029329 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442517 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442517 ms (missed cycles : 3).[0m ×2 + 10.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095196 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095196 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173730 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173730 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789003317.12377858 seconds ×3 + 15.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.26sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789003317.71181488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789003317.77196622 seconds ×3 + 15.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2).[0m ×2 + 16.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 16.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.26sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 16.26sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 18.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034700 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034700 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_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 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.82sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.82sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.82sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891971 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891971 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-10 01:22:42.847] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-10 01:22:42.847] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806683 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806683 ms (missed cycles : 4).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789003364.00365281 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535641 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535641 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789003364.77078819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.810390 ms (missed cycles : 8). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.810390 ms (missed cycles : 8).[0m ×2 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.91sINFOros2_control_node[2026-09-10 01:22:46.015] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-09-10 01:22:46.015] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368076 ms (missed cycles : 6). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368076 ms (missed cycles : 6).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089648 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089648 ms (missed cycles : 3).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264159 ms (missed cycles : 5). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264159 ms (missed cycles : 5).[0m ×2 + 8.61sINFOobjective_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 + 8.61sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.61sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.61sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.61sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008140 ms (missed cycles : 4). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008140 ms (missed cycles : 4).[0m ×2 + 9.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769483 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769483 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509019 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509019 ms (missed cycles : 3).[0m ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.07sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.08sINFOros2_control_node[2026-09-10 01:22:52.189] [info] Received new action goal ×2 + 11.08sINFOros2_control_node[2026-09-10 01:22:52.189] [info] Accepted new action goal ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313826 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313826 ms (missed cycles : 3).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141161 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141161 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208980 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208980 ms (missed cycles : 2).[0m ×2 + 14.69sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789003375.79305863 seconds ×3 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618416 ms (missed cycles : 3). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618416 ms (missed cycles : 3).[0m ×2 + 15.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.28sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789003376.43656373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 15.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.49sINFOros2_control_node[2026-09-10 01:22:56.600] [info] Received new action goal ×2 + 15.49sINFOros2_control_node[2026-09-10 01:22:56.600] [info] Accepted new action goal ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.783307 ms (missed cycles : 8). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.783307 ms (missed cycles : 8).[0m ×2 + 16.76sINFOobjective_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 + 16.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153894 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153894 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016429 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016429 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 59 warnings · 268 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_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: 1789003259.57669377 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.27sINFOobjective_server_nodecaller: ×8 + 2.27sINFOobjective_server_nodetype: 0 ×8 + 2.27sINFOobjective_server_nodename: "" ×8 + 2.27sINFOobjective_server_nodeinstance_id: "" ×8 + 2.27sINFOobjective_server_node ×8 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836697 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836697 ms (missed cycles : 4).[0m ×2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148328 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148328 ms (missed cycles : 2).[0m ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 1 iterations (0.00329404 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.13sINFOros2_control_node[2026-09-10 01:21:05.979] [info] Received new action goal ×2 + 8.13sINFOros2_control_node[2026-09-10 01:21:05.979] [info] Accepted new action goal ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297135 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297135 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248627 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248627 ms (missed cycles : 2).[0m ×2 + 10.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.44sINFOros2_control_node[2026-09-10 01:21:08.281] [info] Received new action goal ×2 + 10.44sINFOros2_control_node[2026-09-10 01:21:08.281] [info] Accepted new action goal ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975281 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975281 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 12.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.29sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 12.29sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 13.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 14.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.12sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 14.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.87sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.05sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 15.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 54 warnings · 2410 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_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 ×4 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015187 ms (missed cycles : 4). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015187 ms (missed cycles : 4).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.260110 ms (missed cycles : 8). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.260110 ms (missed cycles : 8).[0m ×2 + 8.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 1 iterations (0.00331733 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.87sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.89sINFOros2_control_node[2026-09-10 01:24:08.150] [info] Received new action goal ×2 + 8.89sINFOros2_control_node[2026-09-10 01:24:08.150] [info] Accepted new action goal ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897889 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897889 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753168 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753168 ms (missed cycles : 4).[0m ×2 + 11.19sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 11.19sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 13.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.04sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 13.04sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 14.31sINFOobjective_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 + 14.31sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 14.31sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 14.32sERRORobjective_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: 1789003453.57806301 seconds ×3 + 14.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 15.17sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 16.91sWARNros2_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 + 17.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 62 warnings · 388 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.04sERRORobjective_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: 1789003486.07744193 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.66sINFOobjective_server_nodecaller: ×12 + 2.66sINFOobjective_server_nodetype: 0 ×12 + 2.66sINFOobjective_server_nodename: "" ×12 + 2.66sINFOobjective_server_nodeinstance_id: "" ×12 + 2.66sINFOobjective_server_node ×12 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.54sINFOros2_control_node[2026-09-10 01:24:51.569] [info] Received new action goal ×2 + 7.54sINFOros2_control_node[2026-09-10 01:24:51.569] [info] Accepted new action goal ×2 + 7.54sINFOros2_control_node[2026-09-10 01:24:51.569] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749780 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749780 ms (missed cycles : 4).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750946 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750946 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135792 ms (missed cycles : 4). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135792 ms (missed cycles : 4).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5).[0m ×2 + 11.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 14.54sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 14.54sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 14.55sERRORobjective_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: 1789003498.57985759 seconds ×3 + 15.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 16.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 16.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.96sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.01sINFOobjective_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 + 17.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 17.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 17.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.55sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 56 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820250 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820250 ms (missed cycles : 2).[0m ×2 + 0.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463884 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463884 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789003475.05832100 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.93sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.93sINFOobjective_server_nodecaller: ×8 + 2.93sINFOobjective_server_nodetype: 0 ×8 + 2.93sINFOobjective_server_nodename: "" ×8 + 2.93sINFOobjective_server_nodeinstance_id: "" ×8 + 2.93sINFOobjective_server_node ×8 + 2.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789003475.65718007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:35.791] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:35.791] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019820 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019820 ms (missed cycles : 3).[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608194 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608194 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199066 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199066 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866112 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866112 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955145 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955145 ms (missed cycles : 3).[0m ×2 + 7.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551679 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551679 ms (missed cycles : 3).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113522 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113522 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5).[0m ×2 + 11.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 13.40sINFOobjective_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 + 13.41sERRORobjective_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: 1789003486.07744193 seconds ×3 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.11sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_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 + 14.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 15.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 15.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.58sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 15.58sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 16.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.39sINFOobjective_server_nodecaller: ×6 + 2.39sINFOobjective_server_nodetype: 0 ×6 + 2.39sINFOobjective_server_nodename: "" ×6 + 2.39sINFOobjective_server_nodeinstance_id: "" ×6 + 2.39sINFOobjective_server_node ×6 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.71sINFOros2_control_node[2026-09-10 01:21:16.289] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-09-10 01:21:16.289] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164525 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164525 ms (missed cycles : 2).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735574 ms (missed cycles : 5). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735574 ms (missed cycles : 5).[0m ×2 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 9.04sINFOros2_control_node[2026-09-10 01:21:18.626] [info] Received new action goal ×2 + 9.04sINFOros2_control_node[2026-09-10 01:21:18.626] [info] Accepted new action goal ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206024 ms (missed cycles : 7). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206024 ms (missed cycles : 7).[0m ×2 + 9.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278081 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278081 ms (missed cycles : 2).[0m ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 11.39sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 11.39sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 13.59sINFOobjective_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 + 13.59sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 13.59sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 13.60sERRORobjective_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: 1789003283.18779016 seconds ×3 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 14.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.43sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 56 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188029 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188029 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811632 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811632 ms (missed cycles : 3).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961164 ms (missed cycles : 3). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961164 ms (missed cycles : 3).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597206 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597206 ms (missed cycles : 3).[0m ×2 + 10.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566032 ms (missed cycles : 4). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566032 ms (missed cycles : 4).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458003 ms (missed cycles : 5). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458003 ms (missed cycles : 5).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809668 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809668 ms (missed cycles : 2).[0m ×2 + 14.12sERRORobjective_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: 1789003464.57609606 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156700 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156700 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.72sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789003465.17358541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 14.99sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.01sINFOros2_control_node[2026-09-10 01:24:25.459] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-10 01:24:25.459] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141253 ms (missed cycles : 5). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141253 ms (missed cycles : 5).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554045 ms (missed cycles : 5). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554045 ms (missed cycles : 5).[0m ×2 + 16.70sWARNros2_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 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 + 6.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.63sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 5 iterations (0.00573639 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507031 ms (missed cycles : 4). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507031 ms (missed cycles : 4).[0m ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.43sINFOros2_control_node[2026-09-10 01:21:28.300] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-09-10 01:21:28.300] [info] Accepted new action goal ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755005 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755005 ms (missed cycles : 2).[0m ×2 + 8.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135054 ms (missed cycles : 6). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135054 ms (missed cycles : 6).[0m ×2 + 9.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 9.94sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 9.94sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 9.95sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 9.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789003290.85603404 seconds ×3 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253699 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253699 ms (missed cycles : 4).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535801 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535801 ms (missed cycles : 4).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822250 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822250 ms (missed cycles : 3).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023498 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023498 ms (missed cycles : 3).[0m ×2 + 13.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.92sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789003294.79520369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 14.13sINFOros2_control_node[2026-09-10 01:21:35.009] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-09-10 01:21:35.009] [info] Accepted new action goal ×2 + 14.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.521066 ms (missed cycles : 8). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.521066 ms (missed cycles : 8).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807297 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807297 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999886 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999886 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 3 errors · 57 warnings · 209 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253699 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253699 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535801 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535801 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822250 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822250 ms (missed cycles : 3).[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023498 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023498 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789003294.79520369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-10 01:21:35.009] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-10 01:21:35.009] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.521066 ms (missed cycles : 8). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.521066 ms (missed cycles : 8).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807297 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807297 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999886 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999886 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857284 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857284 ms (missed cycles : 2).[0m ×2 + 7.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.93sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×4 + 8.22sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 5 iterations (0.0048626 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (7.05e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260336 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260336 ms (missed cycles : 2).[0m ×2 + 9.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 9.04sINFOros2_control_node[2026-09-10 01:21:40.222] [info] Received new action goal ×2 + 9.04sINFOros2_control_node[2026-09-10 01:21:40.222] [info] Accepted new action goal ×2 + 9.39sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469736 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469736 ms (missed cycles : 3).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949099 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949099 ms (missed cycles : 2).[0m ×2 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.69sINFOobjective_server_nodeFound path in 1 iterations (0.00297857 s). ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.91sINFOros2_control_node[2026-09-10 01:21:43.091] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-09-10 01:21:43.091] [info] Accepted new action goal ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245327 ms (missed cycles : 4). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245327 ms (missed cycles : 4).[0m ×2 + 12.34sINFOros2_control_node[2026-09-10 01:21:43.523] [info] Received new action goal ×2 + 12.34sINFOros2_control_node[2026-09-10 01:21:43.523] [info] Accepted new action goal ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411516 ms (missed cycles : 4). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411516 ms (missed cycles : 4).[0m ×2 + 13.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.89sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.89sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.91sERRORobjective_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: 1789003305.08873963 seconds ×3 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504867 ms (missed cycles : 4). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504867 ms (missed cycles : 4).[0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789003305.89982438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 14.88sINFOros2_control_node[2026-09-10 01:21:46.065] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-10 01:21:46.065] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850466 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850466 ms (missed cycles : 2).[0m ×2 + 15.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851227 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851227 ms (missed cycles : 2).[0m ×2 + 17.37sINFOros2_control_node[2026-09-10 01:21:48.554] [info] Received new action goal ×2 + 17.37sINFOros2_control_node[2026-09-10 01:21:48.554] [info] Accepted new action goal ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177649 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177649 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 56 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955930 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955930 ms (missed cycles : 3).[0m ×2 + 1.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155605 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155605 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755595 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755595 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.46sINFOros2_control_node[2026-09-10 01:20:48.296] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-09-10 01:20:48.296] [info] Accepted new action goal ×2 + 2.83sINFOobjective_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 + 2.84sINFOros2_control_node[2026-09-10 01:20:48.681] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-09-10 01:20:48.681] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1789003248.69783616 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022437 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022437 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_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: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.47sINFOobjective_server_nodecaller: ×6 + 3.47sINFOobjective_server_nodetype: 0 ×6 + 3.47sINFOobjective_server_nodename: "" ×6 + 3.47sINFOobjective_server_nodeinstance_id: "" ×6 + 3.47sINFOobjective_server_node ×6 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789003249.37595344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.76sINFOros2_control_node[2026-09-10 01:20:49.599] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-10 01:20:49.599] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179403 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179403 ms (missed cycles : 3).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692066 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692066 ms (missed cycles : 5).[0m ×2 + 5.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.02sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.04sINFOros2_control_node[2026-09-10 01:20:51.881] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-09-10 01:20:51.881] [info] Accepted new action goal ×2 + 6.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901473 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901473 ms (missed cycles : 3).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052875 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052875 ms (missed cycles : 2).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012382 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012382 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978572 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978572 ms (missed cycles : 2).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2).[0m ×2 + 12.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 13.74sERRORobjective_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: 1789003259.57669377 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 14.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 15.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 17.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.66sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 5.58sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.18sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681081 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681081 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304243 ms (missed cycles : 5). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304243 ms (missed cycles : 5).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105626 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105626 ms (missed cycles : 3).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033041 ms (missed cycles : 7). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033041 ms (missed cycles : 7).[0m ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 9.98sINFOros2_control_node[2026-09-10 01:20:44.967] [info] Received new action goal ×2 + 9.98sINFOros2_control_node[2026-09-10 01:20:44.967] [info] Accepted new action goal ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955930 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955930 ms (missed cycles : 3).[0m ×2 + 11.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155605 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155605 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755595 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755595 ms (missed cycles : 3).[0m ×2 + 13.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-10 01:20:48.296] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-10 01:20:48.296] [info] Accepted new action goal ×2 + 13.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.69sINFOros2_control_node[2026-09-10 01:20:48.681] [info] Got request to cancel active goal. ×2 + 13.69sINFOros2_control_node[2026-09-10 01:20:48.681] [info] Canceling active goal... ×2 + 13.71sERRORobjective_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: 1789003248.69783616 seconds ×3 + 13.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022437 ms (missed cycles : 5). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022437 ms (missed cycles : 5).[0m ×2 + 14.32sINFOobjective_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: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789003249.37595344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 14.61sINFOros2_control_node[2026-09-10 01:20:49.599] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-09-10 01:20:49.599] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179403 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179403 ms (missed cycles : 3).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692066 ms (missed cycles : 5). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692066 ms (missed cycles : 5).[0m ×2 + 16.87sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 16.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.89sINFOros2_control_node[2026-09-10 01:20:51.881] [info] Received new action goal ×2 + 16.89sINFOros2_control_node[2026-09-10 01:20:51.881] [info] Accepted new action goal ×2 + 17.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566032 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458003 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458003 ms (missed cycles : 5).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809668 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809668 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_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 + 2.94sERRORobjective_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: 1789003464.57609606 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156700 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156700 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789003465.17358541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.82sINFOros2_control_node[2026-09-10 01:24:25.459] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-10 01:24:25.459] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141253 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141253 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554045 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554045 ms (missed cycles : 5).[0m ×2 + 5.52sWARNros2_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 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191374 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191374 ms (missed cycles : 3).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239867 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239867 ms (missed cycles : 3).[0m ×2 + 7.83sINFOros2_control_node[2026-09-10 01:24:29.472] [info] Received new action goal ×2 + 7.83sINFOros2_control_node[2026-09-10 01:24:29.473] [info] Accepted new action goal ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431308 ms (missed cycles : 5). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431308 ms (missed cycles : 5).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188707 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188707 ms (missed cycles : 3).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820250 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820250 ms (missed cycles : 2).[0m ×2 + 11.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 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 1.699716 ms (missed cycles : 2). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463884 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463884 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789003475.05832100 seconds ×3 + 13.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.96sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789003475.65718007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.14sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 14.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.15sINFOros2_control_node[2026-09-10 01:24:35.791] [info] Received new action goal ×2 + 14.15sINFOros2_control_node[2026-09-10 01:24:35.791] [info] Accepted new action goal ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019820 ms (missed cycles : 3). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019820 ms (missed cycles : 3).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608194 ms (missed cycles : 3). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608194 ms (missed cycles : 3).[0m ×2 + 16.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199066 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199066 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.1s | 49 errors · 42 warnings · 365 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 0.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 0.12sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 0.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003498.57985759 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.68sINFOobjective_server_nodecaller: ×8 + 0.68sINFOobjective_server_nodetype: 0 ×8 + 0.68sINFOobjective_server_nodename: "" ×8 + 0.68sINFOobjective_server_nodeinstance_id: "" ×8 + 0.68sINFOobjective_server_node ×8 + 0.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.58sINFOobjective_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 + 2.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003502.24528885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003503.36541748 seconds ×3 + 4.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115057 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115057 ms (missed cycles : 5).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060589 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060589 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653637 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653637 ms (missed cycles : 4).[0m ×2 + 8.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675867 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675867 ms (missed cycles : 3).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945216 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945216 ms (missed cycles : 3).[0m ×2 + 10.77sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.78sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.79sERRORweb_video_auth_proxy-23process has died [pid 7574, 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 + 10.79sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.79sERRORweb_bridge_auth_proxy-22process has died [pid 7573, 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 + 10.79sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.80sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.80sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.80sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.81sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.81sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.82sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.82sINFOvideo_server-21process has finished cleanly [pid 7572] ×2 + 10.82sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.83sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.83sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.84sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.84sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980320 ms (missed cycles : 4). + 10.85sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.85sINFOcontroller_managerShutdown request received.... + 10.85sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.85sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.85sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.85sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.85sINFOvideo_server2026/09/10 01:25:09 INF shutting down gracefully ×2 + 10.85sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOvideo_server2026/09/10 01:25:09 INF [WebRTC] closing ×2 + 10.85sINFOvideo_server2026/09/10 01:25:09 INF [RTSP] closing ×2 + 10.85sINFOvideo_server2026/09/10 01:25:09 INF waiting for running hooks ×2 + 10.85sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.85sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.85sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.85sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980320 ms (missed cycles : 4).[0m ×2 + 10.85sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.85sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.85sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.85sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.85sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.85sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.85sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.86sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.86sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.86sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.86sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.86sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.86sINFOcontroller_managerShutting down the controller manager. + 10.86sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.86sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.86sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.86sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.86sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.86sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.86sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.86sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.01sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7565] ×2 + 11.01sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.05sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7488] ×2 + 11.05sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7487] ×2 + 11.05sINFOcomponent_container_mt-16process has finished cleanly [pid 7491] ×2 + 11.05sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.05sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.06sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.06sINFOwaypoint_manager_node-11process has finished cleanly [pid 7486] ×2 + 11.07sINFOparameter_manager_node-10process has finished cleanly [pid 7485] ×2 + 11.07sINFOui_teleop_bridge-18process has finished cleanly [pid 7493] ×2 + 11.09sINFOexecute_objective_bridge-17process has finished cleanly [pid 7492] ×2 + 11.13sINFOobjective_server_node[0;m[2026-09-10 01:25:09.592] [moveit_pro_license] [info] ×2 + 11.13sINFOobjective_server_node************************************************* ×4 + 11.13sINFOobjective_server_node* MoveIt Pro License ×2 + 11.14sINFOobjective_server_node* Application has successfully terminated ×2 + 11.15sINFOcomponent_container_mt-15process has finished cleanly [pid 7490] ×2 + 11.17sINFOmove_group-9process has finished cleanly [pid 7484] ×2 + 11.26sINFOobjective_server_node_main-14process has finished cleanly [pid 7489] ×2 + 11.26sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.64sINFOros2_control_node-1process has finished cleanly [pid 7433] ×2 + 12.02sINFOweb_bridge-19process has finished cleanly [pid 7494] ×2 + 12.02sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 31 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4).[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789003317.12377858 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.06sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.06sINFOobjective_server_nodecaller: ×6 + 2.06sINFOobjective_server_nodetype: 0 ×6 + 2.06sINFOobjective_server_nodename: "" ×6 + 2.06sINFOobjective_server_nodeinstance_id: "" ×6 + 2.06sINFOobjective_server_node ×6 + 2.10sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789003317.71181488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789003317.77196622 seconds ×3 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.06sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.62sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.77sINFOobjective_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 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.09sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_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 + 3.47sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003498.57985759 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 4.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×8 + 4.04sINFOobjective_server_nodecaller: ×8 + 4.04sINFOobjective_server_nodetype: 0 ×8 + 4.04sINFOobjective_server_nodename: "" ×8 + 4.04sINFOobjective_server_nodeinstance_id: "" ×8 + 4.04sINFOobjective_server_node ×8 + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.94sINFOobjective_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 + 5.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 + 7.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003502.24528885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2).[0m ×2 + 8.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003503.36541748 seconds ×3 + 8.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 667 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 + 0.08sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.09sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.09sWARNros2_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 + 0.09sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.09sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.09sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.09sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.09sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.09sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.09sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.09sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.09sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.09sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.09sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.09sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.09sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.09sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.09sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.09sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.09sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.09sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.09sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.09sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.09sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.09sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.19sINFOcomponent_container_mt[2026-09-10 01:20:30.652] [moveit_pro_license] [info] ×2 + 0.19sINFOcomponent_container_mt************************************************* ×4 + 0.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.28sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOros2_control_node[2026-09-10 01:20:30.800] [info] Controller state will be published at 10 Hz. ×2 + 0.34sINFOros2_control_node[2026-09-10 01:20:30.801] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.58sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.58sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.59sINFOros2_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 + 0.59sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.59sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.61sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.62sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.62sINFOros2-7process has finished cleanly [pid 7450] ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.62sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.62sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.93sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.98sINFOforce_torque_sensor_broadcasterconfigure successful + 0.98sINFOros2_control_nodeconfigure successful[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.98sINFOros2-4process has finished cleanly [pid 7447] ×2 + 0.99sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913379 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913379 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.31sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.31sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.32sINFOros2-2process has finished cleanly [pid 7434] ×2 + 1.38sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.42sINFOros2_control_node[2026-09-10 01:20:31.874] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.42sINFOros2_control_node[2026-09-10 01:20:31.874] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.44sINFOros2_control_node[2026-09-10 01:20:31.902] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.44sINFOros2_control_node[2026-09-10 01:20:31.902] [info] Controller state will be published at 50 Hz. ×2 + 1.45sINFOros2_control_node[2026-09-10 01:20:31.908] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 1.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 1.79sINFOros2-6process has finished cleanly [pid 7449] ×2 + 1.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.14sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.16sINFOros2-5process has finished cleanly [pid 7448] ×2 + 2.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 2.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 2.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.22sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.25sINFOros2_control_node[2026-09-10 01:20:32.707] [info] Controller state will be published at 20 Hz. ×2 + 2.25sINFOros2_control_node[2026-09-10 01:20:32.708] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.61sINFOros2-8process has finished cleanly [pid 7451] ×2 + 2.62sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.62sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.62sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.62sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 2.62sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 2.63sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 2.66sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.67sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.67sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.67sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.67sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.68sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.68sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.78sINFOobjective_server_nodecaller: ×14 + 2.78sINFOobjective_server_nodetype: 0 ×14 + 2.78sINFOobjective_server_nodename: "" ×14 + 2.78sINFOobjective_server_nodeinstance_id: "" ×14 + 2.78sINFOobjective_server_node ×14 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.96sINFOros2-3process has finished cleanly [pid 7435] ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 4.00sWARNros2_control_nodeCamera render tick took 1.70 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 + 4.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 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: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[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: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 7.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 8.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[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 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.19sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 | ||||
| ✓ 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 1.975281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975281 ms (missed cycles : 2).[0m ×2 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 1.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.33sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 1.33sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 481 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.02sINFOros2-6process has finished cleanly [pid 7449] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 7448] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.707] [info] Controller state will be published at 20 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.708] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOros2-8process has finished cleanly [pid 7451] ×2 + 0.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.01sINFOobjective_server_nodecaller: ×14 + 1.01sINFOobjective_server_nodetype: 0 ×14 + 1.01sINFOobjective_server_nodename: "" ×14 + 1.01sINFOobjective_server_nodeinstance_id: "" ×14 + 1.01sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOros2-3process has finished cleanly [pid 7435] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 1.70 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 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_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 + 2.61sERRORobjective_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: 1789003259.57669377 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003486.07744193 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173730 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789003317.12377858 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789003317.71181488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789003317.77196622 seconds ×3 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 23 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 0.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 0.12sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 0.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003498.57985759 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.68sINFOobjective_server_nodecaller: ×8 + 0.68sINFOobjective_server_nodetype: 0 ×8 + 0.68sINFOobjective_server_nodename: "" ×8 + 0.68sINFOobjective_server_nodeinstance_id: "" ×8 + 0.68sINFOobjective_server_node ×8 + 0.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.58sINFOobjective_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 + 2.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003502.24528885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003503.36541748 seconds ×3 + 4.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115057 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115057 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sERRORobjective_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: 1789003486.07744193 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 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 1.756847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_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 + 1.36sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 1.37sERRORobjective_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: 1789003498.57985759 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.93sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.93sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.93sINFOobjective_server_nodecaller: ×8 + 1.93sINFOobjective_server_nodetype: 0 ×8 + 1.93sINFOobjective_server_nodename: "" ×8 + 1.93sINFOobjective_server_nodeinstance_id: "" ×8 + 1.93sINFOobjective_server_node ×8 + 1.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.83sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003502.24528885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131954 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003503.36541748 seconds ×3 + 6.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115057 ms (missed cycles : 5). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115057 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.1s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_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: 1789003259.57669377 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2).[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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_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 + 2.61sERRORobjective_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: 1789003259.57669377 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820287 ms (missed cycles : 2).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_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 + 2.61sERRORobjective_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: 1789003259.57669377 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_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: 1789003259.57669377 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_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: 1789003259.57669377 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754255 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327406 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_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: 1789003259.57669377 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345643 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789003260.16707802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789003260.25719976 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789003260.90896082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-10 01:21:01.112] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781530 ms (missed cycles : 4).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299778 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331243 ms (missed cycles : 2).[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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150708 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-10 01:21:10.134] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415813 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789003271.43037343 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108546 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.39sINFOobjective_server_nodecaller: ×4 + 2.39sINFOobjective_server_nodetype: 0 ×4 + 2.39sINFOobjective_server_nodename: "" ×4 + 2.39sINFOobjective_server_nodeinstance_id: "" ×4 + 2.39sINFOobjective_server_node ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789003272.04468489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789003272.12481165 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789003272.76493740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-10 01:21:12.899] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504792 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644083 ms (missed cycles : 3).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189581 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-10 01:21:20.976] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912809 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016297 ms (missed cycles : 6).[0m ×2 + 2.30sINFOobjective_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 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Got request to cancel active goal. ×2 + 2.30sINFOros2_control_node[2026-09-10 01:21:23.175] [info] Canceling active goal... ×2 + 2.31sERRORobjective_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: 1789003283.18779016 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723270 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789003283.81418467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-10 01:21:24.008] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842690 ms (missed cycles : 5).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045251 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340002 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949099 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949099 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 1 iterations (0.00297857 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOros2_control_node[2026-09-10 01:21:43.091] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-10 01:21:43.091] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245327 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245327 ms (missed cycles : 4).[0m ×2 + 1.12sINFOros2_control_node[2026-09-10 01:21:43.523] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-10 01:21:43.523] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411516 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411516 ms (missed cycles : 4).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.67sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.67sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.69sERRORobjective_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: 1789003305.08873963 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504867 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504867 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789003305.89982438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.66sINFOros2_control_node[2026-09-10 01:21:46.065] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-10 01:21:46.065] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850466 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850466 ms (missed cycles : 2).[0m ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851227 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851227 ms (missed cycles : 2).[0m ×2 + 6.15sINFOros2_control_node[2026-09-10 01:21:48.554] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-10 01:21:48.554] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177649 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173730 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277005 ms (missed cycles : 4).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404415 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789003317.12377858 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789003317.71181488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789003317.77196622 seconds ×3 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789003318.55189967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-10 01:21:58.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253855 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417222 ms (missed cycles : 5).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789003320.67202330 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766948 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886048 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789003322.28689885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-10 01:22:02.694] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271725 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025252 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 4.313826 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313826 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141161 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141161 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208980 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208980 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789003375.79305863 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618416 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618416 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_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: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789003376.43656373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.45sINFOros2_control_node[2026-09-10 01:22:56.600] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-10 01:22:56.600] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.783307 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.783307 ms (missed cycles : 8).[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153894 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153894 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016429 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016429 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 · 2296 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2296 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2296 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2296 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2296 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056912 ms (missed cycles : 3).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675893 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977878 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789003442.47202921 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557965 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789003443.15325260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-10 01:24:03.361] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187197 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027253 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 01:24:10.452] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225926 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352967 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-10 01:24:12.297] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881581 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:13.573] [info] Canceling active goal... ×2 + 3.12sERRORobjective_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: 1789003453.57806301 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2). + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896677 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789003454.24557304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-10 01:24:14.429] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438407 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_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 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566032 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458003 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458003 ms (missed cycles : 5).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809668 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809668 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_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 + 2.94sERRORobjective_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: 1789003464.57609606 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156700 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156700 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789003465.17358541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.82sINFOros2_control_node[2026-09-10 01:24:25.459] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-10 01:24:25.459] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141253 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141253 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554045 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554045 ms (missed cycles : 5).[0m ×2 + 5.52sWARNros2_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 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820250 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820250 ms (missed cycles : 2).[0m ×2 + 0.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463884 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463884 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789003475.05832100 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789003475.65718007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:35.791] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 01:24:35.791] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019820 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019820 ms (missed cycles : 3).[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608194 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608194 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199066 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199066 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003486.07744193 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003486.07744193 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003486.07744193 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798515 ms (missed cycles : 5).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003486.07744193 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sERRORobjective_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: 1789003486.07744193 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sERRORobjective_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: 1789003486.07744193 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012843 ms (missed cycles : 4).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429050 ms (missed cycles : 3).[0m ×2 + 2.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sERRORobjective_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: 1789003486.07744193 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116025 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789003486.74207616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789003486.81220317 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789003487.40592718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789003487.42798543 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153647 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789003488.13519645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-10 01:24:48.249] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346470 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101284 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057522 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_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 + 3.47sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003498.57985759 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.04sINFOobjective_server_nodecaller: ×6 + 4.04sINFOobjective_server_nodetype: 0 ×6 + 4.04sINFOobjective_server_nodename: "" ×6 + 4.04sINFOobjective_server_nodeinstance_id: "" ×6 + 4.04sINFOobjective_server_node ×6 + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.94sINFOobjective_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 + 5.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567132 ms (missed cycles : 5).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673315 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756847 ms (missed cycles : 2).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540830 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_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 + 3.47sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-09-10 01:24:58.575] [info] Canceling active goal... ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789003498.57985759 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.04sINFOobjective_server_nodecaller: ×6 + 4.04sINFOobjective_server_nodetype: 0 ×6 + 4.04sINFOobjective_server_nodename: "" ×6 + 4.04sINFOobjective_server_nodeinstance_id: "" ×6 + 4.04sINFOobjective_server_node ×6 + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003499.18835855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809562 ms (missed cycles : 7).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003500.44848371 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850594 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.89sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789003501.03873229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.94sINFOobjective_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 + 5.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789003501.04065490 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789003501.62821770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789003501.65901160 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008484 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − 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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
| − 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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.2s | 39 warnings · 728 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/2026-09-10-01-20-26-057301-7b70c4ab4fb0-7385 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697362 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7433] ×2 + 0.84sINFOmove_group-9process started with pid [7484] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7485] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7486] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7487] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7488] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7489] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7490] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7491] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7492] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7493] ×2 + 0.84sINFOweb_bridge-19process started with pid [7494] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7565] ×2 + 0.84sINFOvideo_server-21process started with pid [7572] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7573] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7574] ×2 + 0.84sINFOros2-2process started with pid [7434] ×2 + 0.84sINFOros2-3process started with pid [7435] ×2 + 0.84sINFOros2-4process started with pid [7447] ×2 + 0.84sINFOros2-5process started with pid [7448] ×2 + 0.84sINFOros2-6process started with pid [7449] ×2 + 0.84sINFOros2-7process started with pid [7450] ×2 + 0.84sINFOros2-8process started with pid [7451] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697362 ms (missed cycles : 3).[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOcontroller_managerReceived robot description from topic. + 1.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.01sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.01sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.03sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.12sINFOvideo_server2026/09/10 01:20:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.12sINFOvideo_server2026/09/10 01:20:27 INF configuration loaded from /tmp/moveit-webrtc-b81o6_a7/mediamtx.yml ×2 + 1.13sINFOvideo_server2026/09/10 01:20:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.13sINFOvideo_server2026/09/10 01:20:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.30sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.45sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.96sINFOmove_group[2026-09-10 01:20:28.386] [moveit_pro_license] [info] ×2 + 1.96sINFOmove_group************************************************* ×4 + 1.96sINFOmove_group* MoveIt Pro License ×2 + 1.96sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOwaypoint_manager_node[2026-09-10 01:20:28.562] [moveit_pro_license] [info] ×2 + 2.14sINFOwaypoint_manager_node************************************************* ×4 + 2.14sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.14sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.21sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOmove_group ×4 + 2.32sINFOmove_group[92mYou can start planning now![0m ×2 + 2.36sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.37sINFOros2_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 + 2.37sINFOros2_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 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932337 ms (missed cycles : 5). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932337 ms (missed cycles : 5).[0m ×2 + 2.98sINFOobjective_server_node[2026-09-10 01:20:29.404] [moveit_pro_license] [info] ×2 + 2.98sINFOobjective_server_node************************************************* ×4 + 2.98sINFOobjective_server_node* MoveIt Pro License ×2 + 2.98sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.13sINFOobjective_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 + 3.13sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.15sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.04sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.12sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.12sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.12sWARNros2_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 + 4.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.12sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.12sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.12sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.12sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.12sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.23sINFOcomponent_container_mt[2026-09-10 01:20:30.652] [moveit_pro_license] [info] ×2 + 4.23sINFOcomponent_container_mt************************************************* ×4 + 4.23sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.23sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.32sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 4.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 4.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.38sINFOros2_control_node[2026-09-10 01:20:30.800] [info] Controller state will be published at 10 Hz. ×2 + 4.38sINFOros2_control_node[2026-09-10 01:20:30.801] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.61sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.61sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 4.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 4.63sINFOros2_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 + 4.63sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.63sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.65sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.65sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.65sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.65sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.65sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.65sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.66sINFOros2-7process has finished cleanly [pid 7450] ×2 + 4.66sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.97sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.97sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.97sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.97sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 4.97sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 5.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.01sINFOforce_torque_sensor_broadcasterconfigure successful + 5.01sINFOros2_control_nodeconfigure successful[0m ×2 + 5.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.02sINFOros2-4process has finished cleanly [pid 7447] ×2 + 5.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913379 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913379 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.35sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.35sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.35sINFOros2-2process has finished cleanly [pid 7434] ×2 + 5.42sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 5.42sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 5.45sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.45sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.45sINFOros2_control_node[2026-09-10 01:20:31.874] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.45sINFOros2_control_node[2026-09-10 01:20:31.874] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.48sINFOros2_control_node[2026-09-10 01:20:31.902] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.48sINFOros2_control_node[2026-09-10 01:20:31.902] [info] Controller state will be published at 50 Hz. ×2 + 5.49sINFOros2_control_node[2026-09-10 01:20:31.908] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 5.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 5.83sINFOros2-6process has finished cleanly [pid 7449] ×2 + 5.88sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.88sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.88sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.88sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.88sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.88sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.88sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.88sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.88sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.89sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.16sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.16sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.16sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.16sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.20sINFOros2-5process has finished cleanly [pid 7448] ×2 + 6.23sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 6.23sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 6.26sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.28sINFOros2_control_node[2026-09-10 01:20:32.707] [info] Controller state will be published at 20 Hz. ×2 + 6.29sINFOros2_control_node[2026-09-10 01:20:32.708] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.65sINFOros2-8process has finished cleanly [pid 7451] ×2 + 6.65sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.65sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.65sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.65sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.66sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 6.66sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 6.67sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.67sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 6.70sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.70sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.70sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.71sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.82sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.82sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.82sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.82sINFOobjective_server_nodecaller: ×10 + 6.82sINFOobjective_server_nodetype: 0 ×10 + 6.82sINFOobjective_server_nodename: "" ×10 + 6.82sINFOobjective_server_nodeinstance_id: "" ×10 + 6.82sINFOobjective_server_node ×10 + 6.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 6.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.00sINFOros2-3process has finished cleanly [pid 7435] ×2 + 7.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.41sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 8.03sWARNros2_control_nodeCamera render tick took 1.70 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 + 8.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 9.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 9.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 9.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 10.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 10.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.8s | 28 warnings · 415 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7451] ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.17sINFOobjective_server_nodecaller: ×14 + 0.17sINFOobjective_server_nodetype: 0 ×14 + 0.17sINFOobjective_server_nodename: "" ×14 + 0.17sINFOobjective_server_nodeinstance_id: "" ×14 + 0.17sINFOobjective_server_node ×14 + 0.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.35sINFOros2-3process has finished cleanly [pid 7435] ×2 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 1.39sWARNros2_control_nodeCamera render tick took 1.70 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 + 1.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_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 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.58sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.62sWARNros2_control_nodeCamera render tick took 1.70 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 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 1.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 2.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.34sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 7.34sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 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/2026-09-10-01-20-26-057301-7b70c4ab4fb0-7385 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697362 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7433] ×2 + 0.84sINFOmove_group-9process started with pid [7484] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7485] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7486] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7487] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7488] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7489] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7490] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7491] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7492] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7493] ×2 + 0.84sINFOweb_bridge-19process started with pid [7494] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7565] ×2 + 0.84sINFOvideo_server-21process started with pid [7572] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7573] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7574] ×2 + 0.84sINFOros2-2process started with pid [7434] ×2 + 0.84sINFOros2-3process started with pid [7435] ×2 + 0.84sINFOros2-4process started with pid [7447] ×2 + 0.84sINFOros2-5process started with pid [7448] ×2 + 0.84sINFOros2-6process started with pid [7449] ×2 + 0.84sINFOros2-7process started with pid [7450] ×2 + 0.84sINFOros2-8process started with pid [7451] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697362 ms (missed cycles : 3).[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOcontroller_managerReceived robot description from topic. + 1.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.01sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.01sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.03sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.12sINFOvideo_server2026/09/10 01:20:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.12sINFOvideo_server2026/09/10 01:20:27 INF configuration loaded from /tmp/moveit-webrtc-b81o6_a7/mediamtx.yml ×2 + 1.13sINFOvideo_server2026/09/10 01:20:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.13sINFOvideo_server2026/09/10 01:20:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.30sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.45sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.96sINFOmove_group[2026-09-10 01:20:28.386] [moveit_pro_license] [info] ×2 + 1.96sINFOmove_group************************************************* ×4 + 1.96sINFOmove_group* MoveIt Pro License ×2 + 1.96sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOwaypoint_manager_node[2026-09-10 01:20:28.562] [moveit_pro_license] [info] ×2 + 2.14sINFOwaypoint_manager_node************************************************* ×4 + 2.14sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.14sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.21sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOmove_group ×4 + 2.32sINFOmove_group[92mYou can start planning now![0m ×2 + 2.36sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.37sINFOros2_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 + 2.37sINFOros2_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 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932337 ms (missed cycles : 5). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932337 ms (missed cycles : 5).[0m ×2 + 2.98sINFOobjective_server_node[2026-09-10 01:20:29.404] [moveit_pro_license] [info] ×2 + 2.98sINFOobjective_server_node************************************************* ×4 + 2.98sINFOobjective_server_node* MoveIt Pro License ×2 + 2.98sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.13sINFOobjective_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 + 3.13sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.15sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.15sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 481 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.02sINFOros2-6process has finished cleanly [pid 7449] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 7448] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.707] [info] Controller state will be published at 20 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.708] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOros2-8process has finished cleanly [pid 7451] ×2 + 0.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.01sINFOobjective_server_nodecaller: ×14 + 1.01sINFOobjective_server_nodetype: 0 ×14 + 1.01sINFOobjective_server_nodename: "" ×14 + 1.01sINFOobjective_server_nodeinstance_id: "" ×14 + 1.01sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOros2-3process has finished cleanly [pid 7435] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 1.70 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 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 481 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.02sINFOros2-6process has finished cleanly [pid 7449] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 7448] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.707] [info] Controller state will be published at 20 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.708] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOros2-8process has finished cleanly [pid 7451] ×2 + 0.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.01sINFOobjective_server_nodecaller: ×14 + 1.01sINFOobjective_server_nodetype: 0 ×14 + 1.01sINFOobjective_server_nodename: "" ×14 + 1.01sINFOobjective_server_nodeinstance_id: "" ×14 + 1.01sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOros2-3process has finished cleanly [pid 7435] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 1.70 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 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 481 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.02sINFOros2-6process has finished cleanly [pid 7449] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 7448] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.707] [info] Controller state will be published at 20 Hz. ×2 + 0.48sINFOros2_control_node[2026-09-10 01:20:32.708] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOros2-8process has finished cleanly [pid 7451] ×2 + 0.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.01sINFOobjective_server_nodecaller: ×14 + 1.01sINFOobjective_server_nodetype: 0 ×14 + 1.01sINFOobjective_server_nodename: "" ×14 + 1.01sINFOobjective_server_nodeinstance_id: "" ×14 + 1.01sINFOobjective_server_node ×14 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOros2-3process has finished cleanly [pid 7435] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 1.70 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 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 415 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7451] ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d + 0.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sz5y4343 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_h9gjwhdf --params-file /tmp/launch_params_m362nn5d [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639342 ms (missed cycles : 3).[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.17sINFOobjective_server_nodecaller: ×14 + 0.17sINFOobjective_server_nodetype: 0 ×14 + 0.17sINFOobjective_server_nodename: "" ×14 + 0.17sINFOobjective_server_nodeinstance_id: "" ×14 + 0.17sINFOobjective_server_node ×14 + 0.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003233.28906560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003233.29926825 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.35sINFOros2-3process has finished cleanly [pid 7435] ×2 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 1.39sWARNros2_control_nodeCamera render tick took 1.70 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 + 1.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_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 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.58sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 331 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789003233.88205767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.62sWARNros2_control_nodeCamera render tick took 1.70 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 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 1.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 2.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
| − 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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681081 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681081 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [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 4.112378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112378 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 1.70 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789003234.99223614 seconds ×3 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778714 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789003235.61996937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789003235.68015790 seconds ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094105 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003236.41879916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003236.43894076 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003237.02471447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003237.17537618 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002366 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003237.86095214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003237.90107632 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789003238.50099087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2). + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990687 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.0842e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-10 01:20:38.647] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029640 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203677 ms (missed cycles : 5).[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-10 01:20:41.175] [info] Accepted new action goal ×2 | ||||