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 | 42.7s | 6 errors · 155 warnings · 18138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159663 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712649 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712649 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123047 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123047 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789009162.64660978 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832749 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832749 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789009163.30132484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.60sINFOros2_control_node[2026-09-10 02:59:23.455] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-10 02:59:23.455] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271324 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271324 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_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 + 4.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.95sINFOobjective_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 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766300 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766300 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774851 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774851 ms (missed cycles : 2).[0m ×2 + 7.10sINFOjoint_trajectory_controllerReceived new action goal ×2978 + 7.10sINFOjoint_trajectory_controllerAccepted new action goal ×2977 + 7.10sINFOros2_control_nodeReceived new action goal[0m ×5956 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×5954 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279822 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279822 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634606 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634606 ms (missed cycles : 4).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105591 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105591 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2).[0m ×2 + 11.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×4 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541835 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541835 ms (missed cycles : 2).[0m ×2 + 11.96sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.97sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.97sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780890 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780890 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799938 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799938 ms (missed cycles : 2).[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697463 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697463 ms (missed cycles : 2).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982984 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982984 ms (missed cycles : 2).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322442 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322442 ms (missed cycles : 2).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517761 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517761 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716062 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716062 ms (missed cycles : 2).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215814 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215814 ms (missed cycles : 2).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466482 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466482 ms (missed cycles : 2).[0m ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189498 ms (missed cycles : 2). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189498 ms (missed cycles : 2).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594266 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594266 ms (missed cycles : 2).[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919801 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919801 ms (missed cycles : 2).[0m ×2 + 24.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 24.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1789009180.877527) that ends in the past (1789009184.047526) + 24.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1789009180.877527) that ends in the past (1789009184.047526)[0m ×2 + 24.22sERRORobjective_server_nodeMPCSphereClearance Error: The trajectory controller at '/joint_trajectory_controller/follow_joint_trajectory' rejected a streamed MPC trajectory goal. Check the controller's log for the rejection reason. ×3 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772911 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772911 ms (missed cycles : 2).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847017 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847017 ms (missed cycles : 2).[0m ×2 + 26.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995064 ms (missed cycles : 2). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995064 ms (missed cycles : 2).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175372 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175372 ms (missed cycles : 2).[0m ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743274 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743274 ms (missed cycles : 2).[0m ×2 + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837224 ms (missed cycles : 2). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837224 ms (missed cycles : 2).[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214619 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214619 ms (missed cycles : 2).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473687 ms (missed cycles : 2). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473687 ms (missed cycles : 2).[0m ×2 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842159 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842159 ms (missed cycles : 2).[0m ×2 + 33.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×4 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751308 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751308 ms (missed cycles : 2).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224795 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224795 ms (missed cycles : 2).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994302 ms (missed cycles : 2). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994302 ms (missed cycles : 2).[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486508 ms (missed cycles : 4). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486508 ms (missed cycles : 4).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2).[0m ×2 + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563016 ms (missed cycles : 2). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563016 ms (missed cycles : 2).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178662 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178662 ms (missed cycles : 2).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868368 ms (missed cycles : 2). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868368 ms (missed cycles : 2).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690884 ms (missed cycles : 2). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690884 ms (missed cycles : 2).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704994 ms (missed cycles : 2). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704994 ms (missed cycles : 2).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264190 ms (missed cycles : 2). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264190 ms (missed cycles : 2).[0m ×2 + 45.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009205.30876064 seconds ×3 + 45.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.00sINFOobjective_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: ""
+ 46.00sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 46.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789009205.95327520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 46.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 46.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 46.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 46.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 46.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 46.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 46.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 46.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 46.29sINFOobjective_server_nodeFound path in 0 iterations (6.53e-07 s). ×2 + 46.31sINFOros2_control_node[2026-09-10 03:00:06.157] [info] Received new action goal ×2 + 46.31sINFOros2_control_node[2026-09-10 03:00:06.157] [info] Accepted new action goal ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523074 ms (missed cycles : 2). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523074 ms (missed cycles : 2).[0m ×2 + 47.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 47.44sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043999 ms (missed cycles : 3). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043999 ms (missed cycles : 3).[0m ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011000 ms (missed cycles : 2). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011000 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (8.97e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-10 02:58:32.541] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-10 02:58:32.541] [info] Accepted new action goal ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920956 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920956 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720731 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720731 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147029 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147029 ms (missed cycles : 3).[0m ×2 + 10.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.38sINFOros2_control_node[2026-09-10 02:58:35.840] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-09-10 02:58:35.840] [info] Accepted new action goal ×2 + 10.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962334 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962334 ms (missed cycles : 2).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699567 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699567 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807259 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807259 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.42sINFOros2_control_node[2026-09-10 02:58:38.884] [info] Received new action goal ×2 + 13.42sINFOros2_control_node[2026-09-10 02:58:38.884] [info] Accepted new action goal ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722868 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722868 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448350 ms (missed cycles : 6). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448350 ms (missed cycles : 6).[0m ×2 + 15.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967971 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967971 ms (missed cycles : 4).[0m ×2 + 16.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.39sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.39sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.39sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873403 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873403 ms (missed cycles : 3).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969385 ms (missed cycles : 4). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969385 ms (missed cycles : 4).[0m ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.558261 ms (missed cycles : 6). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.558261 ms (missed cycles : 6).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473899 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473899 ms (missed cycles : 2).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996042 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996042 ms (missed cycles : 2).[0m ×2 + 22.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396894 ms (missed cycles : 3). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396894 ms (missed cycles : 3).[0m ×2 + 23.15sINFOobjective_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 + 23.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.15sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.15sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.15sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154117 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154117 ms (missed cycles : 3).[0m ×2 + 24.10sINFOros2_control_node[2026-09-10 02:58:49.560] [info] Received new action goal ×2 + 24.10sINFOros2_control_node[2026-09-10 02:58:49.560] [info] Accepted new action goal ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482822 ms (missed cycles : 5). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482822 ms (missed cycles : 5).[0m ×2 + 25.27sINFOobjective_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 + 25.28sINFOobjective_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 + 25.55sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 25.56sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.59sINFOros2_control_node[2026-09-10 02:58:51.053] [info] Received new action goal ×2 + 25.59sINFOros2_control_node[2026-09-10 02:58:51.053] [info] Accepted new action goal ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981297 ms (missed cycles : 4). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981297 ms (missed cycles : 4).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039183 ms (missed cycles : 4). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039183 ms (missed cycles : 4).[0m ×2 + 27.71sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 27.71sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.72sINFOros2_control_node[2026-09-10 02:58:53.181] [info] Received new action goal ×2 + 27.72sINFOros2_control_node[2026-09-10 02:58:53.181] [info] Accepted new action goal ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647445 ms (missed cycles : 7). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647445 ms (missed cycles : 7).[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.726025 ms (missed cycles : 8). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.726025 ms (missed cycles : 8).[0m ×2 + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672649 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672649 ms (missed cycles : 2).[0m ×2 + 30.89sINFOros2_control_node[2026-09-10 02:58:56.350] [info] Received new action goal ×2 + 30.89sINFOros2_control_node[2026-09-10 02:58:56.350] [info] Accepted new action goal ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828039 ms (missed cycles : 2). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828039 ms (missed cycles : 2).[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582861 ms (missed cycles : 4). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582861 ms (missed cycles : 4).[0m ×2 + 33.49sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 33.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.54sINFOros2_control_node[2026-09-10 02:58:59.004] [info] Received new action goal ×2 + 33.54sINFOros2_control_node[2026-09-10 02:58:59.004] [info] Accepted new action goal ×2 + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940758 ms (missed cycles : 2). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940758 ms (missed cycles : 2).[0m ×2 + 34.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589042 ms (missed cycles : 5). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589042 ms (missed cycles : 5).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160281 ms (missed cycles : 3). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160281 ms (missed cycles : 3).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356052 ms (missed cycles : 3). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356052 ms (missed cycles : 3).[0m ×2 + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453384 ms (missed cycles : 2). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453384 ms (missed cycles : 2).[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667000 ms (missed cycles : 3). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667000 ms (missed cycles : 3).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158091 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158091 ms (missed cycles : 2).[0m ×2 + 41.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279262 ms (missed cycles : 4). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279262 ms (missed cycles : 4).[0m ×2 + 41.83sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062992 ms (missed cycles : 4). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062992 ms (missed cycles : 4).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911453 ms (missed cycles : 3). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911453 ms (missed cycles : 3).[0m ×2 + 44.25sINFOros2_control_node[2026-09-10 02:59:09.710] [info] Received new action goal ×2 + 44.25sINFOros2_control_node[2026-09-10 02:59:09.710] [info] Accepted new action goal ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538362 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538362 ms (missed cycles : 3).[0m ×2 + 45.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789009150.86671233 seconds ×3 + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590336 ms (missed cycles : 5). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590336 ms (missed cycles : 5).[0m ×2 + 45.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.99sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.17sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789009151.63476562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597604 ms (missed cycles : 5). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597604 ms (missed cycles : 5).[0m ×2 + 47.39sINFOobjective_server_nodeFound path in 0 iterations (5.57e-07 s). ×2 + 47.41sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.43sINFOros2_control_node[2026-09-10 02:59:12.889] [info] Received new action goal ×2 + 47.43sINFOros2_control_node[2026-09-10 02:59:12.889] [info] Accepted new action goal ×2 + 47.63sWARNros2_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 + 48.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.295245 ms (missed cycles : 7). + 48.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.295245 ms (missed cycles : 7).[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 | 22.2s | 89 warnings · 13386 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2198 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2198 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4396 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4396 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690884 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690884 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704994 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704994 ms (missed cycles : 2).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264190 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264190 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009205.30876064 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.76sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789009205.95327520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (6.53e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.07sINFOros2_control_node[2026-09-10 03:00:06.157] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-10 03:00:06.157] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523074 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523074 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_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 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043999 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043999 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.37sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011000 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011000 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869122 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869122 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675767 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675767 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123594 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123594 ms (missed cycles : 2).[0m ×2 + 10.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813976 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813976 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700529 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700529 ms (missed cycles : 2).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725564 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725564 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675254 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675254 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949390 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949390 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908871 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908871 ms (missed cycles : 2).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790734 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790734 ms (missed cycles : 2).[0m ×2 + 17.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781148 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781148 ms (missed cycles : 2).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129352 ms (missed cycles : 2). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129352 ms (missed cycles : 2).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126952 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126952 ms (missed cycles : 2).[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511261 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511261 ms (missed cycles : 2).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079852 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079852 ms (missed cycles : 2).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 24.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 25.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 26.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.29sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 26.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.31sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 26.31sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (9.46e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00324445 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-10 02:58:09.294] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-10 02:58:09.294] [info] Accepted new action goal ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798593 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798593 ms (missed cycles : 4).[0m ×2 + 0.82sINFOros2_control_node[2026-09-10 02:58:09.726] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-10 02:58:09.726] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209072 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209072 ms (missed cycles : 5).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408323 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408323 ms (missed cycles : 4).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOobjective_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 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.09sERRORobjective_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: 1789009091.99188185 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450518 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450518 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789009092.79120636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-10 02:58:12.985] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-10 02:58:12.985] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451751 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451751 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078108 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078108 ms (missed cycles : 3).[0m ×2 + 6.60sINFOros2_control_node[2026-09-10 02:58:15.506] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-10 02:58:15.506] [info] Accepted new action goal ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176762 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176762 ms (missed cycles : 5).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029649 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029649 ms (missed cycles : 2).[0m ×2 + 8.30sWARNros2_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 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856471 ms (missed cycles : 5). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856471 ms (missed cycles : 5).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276229 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276229 ms (missed cycles : 3).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957539 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957539 ms (missed cycles : 3).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386440 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386440 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2).[0m ×2 + 14.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789009104.07393217 seconds ×3 + 15.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.71sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789009104.66298199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789009104.72949409 seconds ×3 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2).[0m ×2 + 16.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.56sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.72sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 16.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.73sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 16.73sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 18.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062992 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062992 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_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 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.68sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.68sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.68sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911453 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911453 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.58sINFOros2_control_node[2026-09-10 02:59:09.710] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-09-10 02:59:09.710] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538362 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538362 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789009150.86671233 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590336 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590336 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789009151.63476562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597604 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597604 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (5.57e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.76sINFOros2_control_node[2026-09-10 02:59:12.889] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-10 02:59:12.889] [info] Accepted new action goal ×2 + 4.95sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.295245 ms (missed cycles : 7). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.295245 ms (missed cycles : 7).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985333 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985333 ms (missed cycles : 5).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346891 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346891 ms (missed cycles : 3).[0m ×2 + 8.45sINFOobjective_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 + 8.45sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.45sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.45sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.45sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995225 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995225 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946091 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946091 ms (missed cycles : 2).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188837 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188837 ms (missed cycles : 3).[0m ×2 + 10.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 10.89sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.91sINFOros2_control_node[2026-09-10 02:59:19.042] [info] Received new action goal ×2 + 10.91sINFOros2_control_node[2026-09-10 02:59:19.042] [info] Accepted new action goal ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159663 ms (missed cycles : 4). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159663 ms (missed cycles : 4).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712649 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712649 ms (missed cycles : 2).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123047 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123047 ms (missed cycles : 2).[0m ×2 + 14.51sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789009162.64660978 seconds ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832749 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832749 ms (missed cycles : 2).[0m ×2 + 15.11sINFOobjective_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: ""
+ 15.11sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789009163.30132484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 15.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.32sINFOros2_control_node[2026-09-10 02:59:23.455] [info] Received new action goal ×2 + 15.32sINFOros2_control_node[2026-09-10 02:59:23.455] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271324 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271324 ms (missed cycles : 3).[0m ×2 + 16.59sINFOobjective_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 + 16.59sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766300 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766300 ms (missed cycles : 2).[0m ×2 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774851 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774851 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 57 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789009078.19380116 seconds ×3 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047946 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047946 ms (missed cycles : 3).[0m ×2 + 1.29sWARNros2_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 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721858 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721858 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817069 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817069 ms (missed cycles : 3).[0m ×2 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789009081.47842193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-10 02:58:01.702] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-10 02:58:01.702] [info] Accepted new action goal ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904672 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904672 ms (missed cycles : 3).[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725482 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725482 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357129 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357129 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916959 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916959 ms (missed cycles : 2).[0m ×2 + 7.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (5.34e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 5 iterations (0.00548096 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886503 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886503 ms (missed cycles : 3).[0m ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sINFOros2_control_node[2026-09-10 02:58:06.376] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-09-10 02:58:06.376] [info] Accepted new action goal ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962893 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962893 ms (missed cycles : 3).[0m ×2 + 9.40sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250603 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250603 ms (missed cycles : 2).[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (9.46e-07 s). ×2 + 11.16sINFOobjective_server_nodeFound path in 1 iterations (0.00324445 s). ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.41sINFOros2_control_node[2026-09-10 02:58:09.294] [info] Received new action goal ×2 + 11.41sINFOros2_control_node[2026-09-10 02:58:09.294] [info] Accepted new action goal ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798593 ms (missed cycles : 4). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798593 ms (missed cycles : 4).[0m ×2 + 11.84sINFOros2_control_node[2026-09-10 02:58:09.726] [info] Received new action goal ×2 + 11.84sINFOros2_control_node[2026-09-10 02:58:09.726] [info] Accepted new action goal ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209072 ms (missed cycles : 5). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209072 ms (missed cycles : 5).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408323 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408323 ms (missed cycles : 4).[0m ×2 + 14.07sINFOobjective_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 + 14.08sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.08sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.08sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789009091.99188185 seconds ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450518 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450518 ms (missed cycles : 3).[0m ×2 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789009092.79120636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 15.10sINFOros2_control_node[2026-09-10 02:58:12.985] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-09-10 02:58:12.985] [info] Accepted new action goal ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451751 ms (missed cycles : 5). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451751 ms (missed cycles : 5).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078108 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078108 ms (missed cycles : 3).[0m ×2 + 17.62sINFOros2_control_node[2026-09-10 02:58:15.506] [info] Received new action goal ×2 + 17.62sINFOros2_control_node[2026-09-10 02:58:15.506] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176058 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176058 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814950 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814950 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (6.42e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.82sINFOros2_control_node[2026-09-10 02:57:14.926] [info] Received new action goal ×2 + 1.82sINFOros2_control_node[2026-09-10 02:57:14.926] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733466 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733466 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.27sINFOros2_control_node[2026-09-10 02:57:15.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-10 02:57:15.372] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789009035.38879323 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789009036.07025766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732876 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732876 ms (missed cycles : 2).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-10 02:57:16.314] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-10 02:57:16.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087255 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087255 ms (missed cycles : 5).[0m ×2 + 5.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512340 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512340 ms (missed cycles : 4).[0m ×2 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.48sINFOros2_control_node[2026-09-10 02:57:18.584] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-10 02:57:18.584] [info] Accepted new action goal ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100589 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100589 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709400 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709400 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006396 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006396 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417990 ms (missed cycles : 6). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417990 ms (missed cycles : 6).[0m ×2 + 9.79sWARNros2_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 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 13.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789009046.47085905 seconds ×3 + 13.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.89sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 15.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.34sERRORobjective_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: 1789009270.87331963 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.94sINFOobjective_server_nodecaller: ×14 + 1.94sINFOobjective_server_nodetype: 0 ×14 + 1.94sINFOobjective_server_nodename: "" ×14 + 1.94sINFOobjective_server_nodeinstance_id: "" ×14 + 1.94sINFOobjective_server_node ×14 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.84sINFOros2_control_node[2026-09-10 03:01:16.367] [info] Received new action goal ×2 + 6.84sINFOros2_control_node[2026-09-10 03:01:16.367] [info] Accepted new action goal ×2 + 6.84sINFOros2_control_node[2026-09-10 03:01:16.367] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028502 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028502 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910152 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910152 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214685 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214685 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 13.83sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 13.83sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 13.84sERRORobjective_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: 1789009283.36769724 seconds ×3 + 14.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.41sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 15.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.49sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.53sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 16.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.08sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 16.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793460 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793460 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677026 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677026 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614683 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614683 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789009259.85562229 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.95sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.95sINFOobjective_server_nodecaller: ×8 + 2.95sINFOobjective_server_nodetype: 0 ×8 + 2.95sINFOobjective_server_nodename: "" ×8 + 2.95sINFOobjective_server_nodeinstance_id: "" ×8 + 2.95sINFOobjective_server_node ×8 + 3.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789009260.46129370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713496 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713496 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_node[2026-09-10 03:01:00.595] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-10 03:01:00.595] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601123 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601123 ms (missed cycles : 2).[0m ×2 + 4.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447646 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447646 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431898 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431898 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774587 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774587 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254620 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254620 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416033 ms (missed cycles : 4). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416033 ms (missed cycles : 4).[0m ×2 + 9.84sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 13.41sINFOobjective_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 + 13.42sERRORobjective_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: 1789009270.87331963 seconds ×3 + 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: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.75sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_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 + 14.77sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 15.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.61sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 15.61sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.62sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 15.62sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.0s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_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: 1789009046.47085905 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.13sINFOobjective_server_nodecaller: ×8 + 2.13sINFOobjective_server_nodetype: 0 ×8 + 2.13sINFOobjective_server_nodename: "" ×8 + 2.13sINFOobjective_server_nodeinstance_id: "" ×8 + 2.13sINFOobjective_server_node ×8 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320556 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320556 ms (missed cycles : 2).[0m ×2 + 7.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001301 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001301 ms (missed cycles : 4).[0m ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 1 iterations (0.00365197 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.89sINFOros2_control_node[2026-09-10 02:57:32.764] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-09-10 02:57:32.764] [info] Accepted new action goal ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566996 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566996 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129328 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129328 ms (missed cycles : 3).[0m ×2 + 10.17sWARNros2_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 + 10.19sINFOros2_control_node[2026-09-10 02:57:35.066] [info] Received new action goal ×2 + 10.19sINFOros2_control_node[2026-09-10 02:57:35.066] [info] Accepted new action goal ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 12.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 12.03sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 12.03sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 13.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 13.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 14.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.80sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 16.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 57 errors · 36 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 0.22sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 0.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789009283.36769724 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.79sINFOobjective_server_nodecaller: ×8 + 0.79sINFOobjective_server_nodetype: 0 ×8 + 0.79sINFOobjective_server_nodename: "" ×8 + 0.79sINFOobjective_server_nodeinstance_id: "" ×8 + 0.79sINFOobjective_server_node ×8 + 0.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 1.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009287.54029417 seconds ×3 + 4.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033633 ms (missed cycles : 7). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033633 ms (missed cycles : 7).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070023 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070023 ms (missed cycles : 4).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163434 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163434 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804615 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804615 ms (missed cycles : 2).[0m ×2 + 8.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.78sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.79sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORweb_video_auth_proxy-23process has died [pid 7526, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.80sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.80sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.80sERRORweb_bridge_auth_proxy-22process has died [pid 7524, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.80sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.81sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.81sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.81sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.82sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.82sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.83sINFOvideo_server-21process has finished cleanly [pid 7523] ×2 + 9.83sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.83sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.84sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.84sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.85sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.85sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.86sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.86sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.86sINFOvideo_server2026/09/10 03:01:32 INF shutting down gracefully ×2 + 9.86sINFOvideo_server2026/09/10 03:01:32 INF [WebRTC] closing ×2 + 9.86sINFOvideo_server2026/09/10 03:01:32 INF [RTSP] closing ×2 + 9.86sINFOvideo_server2026/09/10 03:01:32 INF waiting for running hooks ×2 + 9.86sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.86sINFOcontroller_managerShutdown request received.... + 9.86sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.86sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.86sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.86sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.86sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.86sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.86sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.86sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.86sERRORmove_groupStack trace (most recent call last) in thread 7896: ×2 + 9.86sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.86sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.86sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.86sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.86sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.86sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.86sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.86sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.86sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.86sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.86sINFOcontroller_managerShutting down the controller manager. + 9.87sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.87sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.87sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.87sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.87sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.87sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff118267a63, in __clone ×2 + 9.87sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1181daaa3, in ×2 + 9.87sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff11846cdb3, in ×2 + 9.87sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.87sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.87sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.87sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.87sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.87sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.87sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.87sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.87sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.87sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.87sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.87sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.87sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.87sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.87sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ff118bd0b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.87sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1187fe620, in rclcpp::Rate::sleep() ×2 + 9.87sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff118740d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.87sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff118702087, in ×2 + 9.87sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff11843b390, in __cxa_throw ×2 + 9.87sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff118425a54, in std::terminate() ×2 + 9.87sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff11843b0d9, in ×2 + 9.87sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff118425ff4, in ×2 + 9.87sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1181668fe, in abort ×2 + 9.87sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff11818327d, in raise ×2 + 9.87sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1181dcb2c, in pthread_kill ×2 + 9.87sERRORmove_groupAborted (Signal sent by tkill() 7438 0) ×2 + 9.88sERRORmove_group-9process has died [pid 7438, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_wzm5szce --params-file /tmp/launch_params_v68zbtry --params-file /tmp/launch_params_0zqyl3kq --params-file /tmp/launch_params_13pg7_1x --params-file /tmp/launch_params_1yx_8q9p --params-file /tmp/launch_params_8rjr_81h']. ×2 + 10.07sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.07sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.07sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.86sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7522] ×2 + 10.86sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.88sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7442] ×2 + 10.88sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7441] ×2 + 10.92sINFOexecute_objective_bridge-17process has finished cleanly [pid 7446] ×2 + 10.92sINFOwaypoint_manager_node-11process has finished cleanly [pid 7440] ×2 + 10.93sINFOparameter_manager_node-10process has finished cleanly [pid 7439] ×2 + 10.93sINFOcomponent_container_mt-16process has finished cleanly [pid 7445] ×2 + 10.93sINFOui_teleop_bridge-18process has finished cleanly [pid 7447] ×2 + 11.04sINFOobjective_server_node[0;m[2026-09-10 03:01:34.184] [moveit_pro_license] [info] ×2 + 11.04sINFOobjective_server_node************************************************* ×4 + 11.04sINFOobjective_server_node* MoveIt Pro License ×2 + 11.04sINFOobjective_server_node* Application has successfully terminated ×2 + 11.17sINFOobjective_server_node_main-14process has finished cleanly [pid 7443] ×2 + 11.17sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.87sINFOweb_bridge-19process has finished cleanly [pid 7448] ×2 + 11.87sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.02sINFOcomponent_container_mt-15process has finished cleanly [pid 7444] ×2 + 12.52sINFOros2_control_node-1process has finished cleanly [pid 7397] ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149925 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149925 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.33sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 5 iterations (0.00531929 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403508 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403508 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.51sINFOros2_control_node[2026-09-10 02:57:55.625] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-09-10 02:57:55.625] [info] Accepted new action goal ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040102 ms (missed cycles : 4). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040102 ms (missed cycles : 4).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101153 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101153 ms (missed cycles : 3).[0m ×2 + 10.77sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.04sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.04sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.05sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789009078.19380116 seconds ×3 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047946 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047946 ms (missed cycles : 3).[0m ×2 + 12.06sWARNros2_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 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721858 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721858 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817069 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817069 ms (missed cycles : 3).[0m ×2 + 14.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.36sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789009081.47842193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 14.58sINFOros2_control_node[2026-09-10 02:58:01.702] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-09-10 02:58:01.702] [info] Accepted new action goal ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904672 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904672 ms (missed cycles : 3).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725482 ms (missed cycles : 3). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725482 ms (missed cycles : 3).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357129 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357129 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125855 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125855 ms (missed cycles : 2).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101959 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101959 ms (missed cycles : 3).[0m ×2 + 8.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010774 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010774 ms (missed cycles : 2).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029990 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029990 ms (missed cycles : 3).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485187 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485187 ms (missed cycles : 3).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296758 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296758 ms (missed cycles : 3).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704525 ms (missed cycles : 3). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704525 ms (missed cycles : 3).[0m ×2 + 13.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 14.02sERRORobjective_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: 1789009249.36276150 seconds ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265232 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265232 ms (missed cycles : 3).[0m ×2 + 14.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789009249.96267629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 14.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.92sINFOros2_control_node[2026-09-10 03:00:50.262] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-09-10 03:00:50.262] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223197 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223197 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066448 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066448 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206929 ms (missed cycles : 3). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206929 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.23sINFOros2_control_node[2026-09-10 02:57:43.037] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-09-10 02:57:43.037] [info] Accepted new action goal ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122684 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122684 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074116 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074116 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694024 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694024 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (7.77e-07 s). ×2 + 9.56sINFOros2_control_node[2026-09-10 02:57:45.375] [info] Received new action goal ×2 + 9.56sINFOros2_control_node[2026-09-10 02:57:45.375] [info] Accepted new action goal ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689082 ms (missed cycles : 5). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689082 ms (missed cycles : 5).[0m ×2 + 11.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 11.91sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 11.92sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 11.92sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 14.05sINFOobjective_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 + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 14.05sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 14.05sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 14.06sERRORobjective_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: 1789009069.87601542 seconds ×3 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.90sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 17.33sWARNros2_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 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.74sINFOobjective_server_nodecaller: ×12 + 0.74sINFOobjective_server_nodetype: 0 ×12 + 0.74sINFOobjective_server_nodename: "" ×12 + 0.74sINFOobjective_server_nodeinstance_id: "" ×12 + 0.74sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.72sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.24sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850731 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850731 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751916 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751916 ms (missed cycles : 2).[0m ×2 + 8.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452912 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452912 ms (missed cycles : 2).[0m ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (8.73e-07 s). ×2 + 10.04sINFOros2_control_node[2026-09-10 02:57:11.596] [info] Received new action goal ×2 + 10.04sINFOros2_control_node[2026-09-10 02:57:11.596] [info] Accepted new action goal ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369896 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369896 ms (missed cycles : 3).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176058 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176058 ms (missed cycles : 2).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814950 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814950 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (6.42e-07 s). ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.37sINFOros2_control_node[2026-09-10 02:57:14.926] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-09-10 02:57:14.926] [info] Accepted new action goal ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733466 ms (missed cycles : 5). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733466 ms (missed cycles : 5).[0m ×2 + 13.81sINFOobjective_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 + 13.82sINFOros2_control_node[2026-09-10 02:57:15.372] [info] Got request to cancel active goal. ×2 + 13.82sINFOros2_control_node[2026-09-10 02:57:15.372] [info] Canceling active goal... ×2 + 13.83sERRORobjective_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: 1789009035.38879323 seconds ×3 + 13.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.44sINFOobjective_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: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789009036.07025766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732876 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732876 ms (missed cycles : 2).[0m ×2 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 14.76sINFOros2_control_node[2026-09-10 02:57:16.314] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-10 02:57:16.314] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087255 ms (missed cycles : 5). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087255 ms (missed cycles : 5).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512340 ms (missed cycles : 4). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512340 ms (missed cycles : 4).[0m ×2 + 17.02sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 17.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.03sINFOros2_control_node[2026-09-10 02:57:18.584] [info] Received new action goal ×2 + 17.03sINFOros2_control_node[2026-09-10 02:57:18.584] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 54 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297034 ms (missed cycles : 6). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297034 ms (missed cycles : 6).[0m ×2 + 7.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.97sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311641 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311641 ms (missed cycles : 2).[0m ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (5.06e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (6.75e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 1 iterations (0.00568788 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.73sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.76sINFOros2_control_node[2026-09-10 03:00:33.038] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-09-10 03:00:33.038] [info] Accepted new action goal ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076574 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076574 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288000 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288000 ms (missed cycles : 4).[0m ×2 + 11.06sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 11.06sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.09sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 13.09sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 13.60sWARNros2_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 + 14.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 14.09sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 14.10sERRORobjective_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: 1789009238.38153934 seconds ×3 + 14.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 14.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.99sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 17.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485187 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485187 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296758 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296758 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704525 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704525 ms (missed cycles : 3).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 2.73sINFOobjective_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 + 2.73sERRORobjective_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: 1789009249.36276150 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265232 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265232 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789009249.96267629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.63sINFOros2_control_node[2026-09-10 03:00:50.262] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-10 03:00:50.262] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223197 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223197 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066448 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066448 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206929 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206929 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543069 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543069 ms (missed cycles : 4).[0m ×2 + 7.64sINFOros2_control_node[2026-09-10 03:00:54.270] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-09-10 03:00:54.270] [info] Accepted new action goal ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319709 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319709 ms (missed cycles : 2).[0m ×2 + 9.27sWARNros2_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 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939784 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939784 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793460 ms (missed cycles : 4). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793460 ms (missed cycles : 4).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677026 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677026 ms (missed cycles : 2).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614683 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614683 ms (missed cycles : 3).[0m ×2 + 13.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789009259.85562229 seconds ×3 + 13.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.83sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789009260.46129370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 13.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713496 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713496 ms (missed cycles : 2).[0m ×2 + 13.96sINFOros2_control_node[2026-09-10 03:01:00.595] [info] Received new action goal ×2 + 13.96sINFOros2_control_node[2026-09-10 03:01:00.595] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601123 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601123 ms (missed cycles : 2).[0m ×2 + 15.41sWARNros2_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 + 15.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447646 ms (missed cycles : 4). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447646 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789009104.07393217 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOobjective_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 + 2.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789009104.66298199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789009104.72949409 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.64sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.64sWARNros2_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 + 6.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.78sINFOobjective_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 + 6.79sINFOobjective_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 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.11sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 691 info |
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.00sWARNros2_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 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.01sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.01sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.01sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.01sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.01sINFOcomponent_container_mt[2026-09-10 02:56:57.271] [moveit_pro_license] [info] ×2 + 0.01sINFOcomponent_container_mt************************************************* ×4 + 0.01sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.01sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.02sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.02sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.02sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.03sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.04sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331727 ms (missed cycles : 4). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331727 ms (missed cycles : 4).[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.11sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.11sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.37sINFOros2-3process has finished cleanly [pid 7399] ×2 + 0.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.39sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sINFOros2_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 + 0.56sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.56sWARNros2_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 + 0.65sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.65sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.73sINFOros2-4process has finished cleanly [pid 7411] ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.78sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.81sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-09-10 02:56:58.069] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_node[2026-09-10 02:56:58.069] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.84sINFOros2_control_node[2026-09-10 02:56:58.096] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.84sINFOros2_control_node[2026-09-10 02:56:58.096] [info] Controller state will be published at 50 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-10 02:56:58.104] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894471 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894471 ms (missed cycles : 2).[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 1.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 1.19sINFOros2-6process has finished cleanly [pid 7413] ×2 + 1.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.50sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.57sINFOros2-5process has finished cleanly [pid 7412] ×2 + 1.59sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 1.59sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 1.63sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.63sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.67sINFOros2_control_node[2026-09-10 02:56:58.931] [info] Controller state will be published at 10 Hz. ×2 + 1.68sINFOros2_control_node[2026-09-10 02:56:58.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.71sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 2.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 2.04sINFOros2-7process has finished cleanly [pid 7414] ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.10sINFOros2_control_node[2026-09-10 02:56:59.352] [info] Controller state will be published at 20 Hz. ×2 + 2.10sINFOros2_control_node[2026-09-10 02:56:59.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.45sINFOros2-8process has finished cleanly [pid 7415] ×2 + 2.49sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.49sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.49sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.49sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.49sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 2.49sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 2.53sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.53sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.53sINFOforce_torque_sensor_broadcasterconfigure successful + 2.53sINFOros2_control_nodeconfigure successful[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.54sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.54sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.70sINFOobjective_server_nodecaller: ×14 + 2.70sINFOobjective_server_nodetype: 0 ×14 + 2.70sINFOobjective_server_nodename: "" ×14 + 2.70sINFOobjective_server_nodeinstance_id: "" ×14 + 2.70sINFOobjective_server_node ×14 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 2.87sINFOros2-2process has finished cleanly [pid 7398] ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodeCamera render tick took 1.84 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 + 4.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 6.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 7.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.02sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 8.02sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6).[0m ×2 + 0.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_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 + 3.34sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 3.34sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 3.35sERRORobjective_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: 1789009283.36769724 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.92sINFOobjective_server_nodecaller: ×8 + 3.92sINFOobjective_server_nodetype: 0 ×8 + 3.92sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.05sINFOobjective_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 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3).[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009287.54029417 seconds ×3 + 7.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789009270.87331963 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1789009046.47085905 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 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 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 5.15sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sINFOros2-5process has finished cleanly [pid 7412] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.931] [info] Controller state will be published at 10 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7414] ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.352] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7415] ×2 + 0.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 1.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.03sINFOforce_torque_sensor_broadcasterconfigure successful + 1.03sINFOros2_control_nodeconfigure successful[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 1.37sINFOros2-2process has finished cleanly [pid 7398] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 1.26sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 1.27sERRORobjective_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: 1789009283.36769724 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.83sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.83sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.83sINFOobjective_server_nodecaller: ×8 + 1.83sINFOobjective_server_nodetype: 0 ×8 + 1.83sINFOobjective_server_nodename: "" ×8 + 1.83sINFOobjective_server_nodeinstance_id: "" ×8 + 1.83sINFOobjective_server_node ×8 + 1.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.96sINFOobjective_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 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009287.54029417 seconds ×3 + 5.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033633 ms (missed cycles : 7). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033633 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386440 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386440 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2).[0m ×2 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789009104.07393217 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789009104.66298199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789009104.72949409 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sERRORobjective_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: 1789009270.87331963 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.72sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 2.33sERRORobjective_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: 1789009283.36769724 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.03sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.03sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.03sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.25sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000062 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009287.54029417 seconds ×3 + 6.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033633 ms (missed cycles : 7). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033633 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_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: 1789009046.47085905 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1789009046.47085905 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 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 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 5.15sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511493 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1789009046.47085905 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 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 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 5.15sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_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: 1789009046.47085905 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_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: 1789009046.47085905 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947536 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520162 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_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: 1789009046.47085905 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246756 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789009047.06129932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789009047.14144874 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789009047.80209756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (7.53e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-10 02:57:27.996] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150907 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683122 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626671 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859133 ms (missed cycles : 4).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950119 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-10 02:57:36.908] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690409 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789009058.20545459 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789009058.82836485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789009058.90849566 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007934 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789009059.55346966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-10 02:57:39.677] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706778 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137053 ms (missed cycles : 4).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055962 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041362 ms (missed cycles : 6).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-10 02:57:47.735] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980148 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4). + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895329 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-10 02:57:49.863] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789009069.87601542 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789009070.50828314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-10 02:57:50.712] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175702 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331095 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971349 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (9.46e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00324445 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-10 02:58:09.294] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-10 02:58:09.294] [info] Accepted new action goal ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798593 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798593 ms (missed cycles : 4).[0m ×2 + 0.82sINFOros2_control_node[2026-09-10 02:58:09.726] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-10 02:58:09.726] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209072 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209072 ms (missed cycles : 5).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408323 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408323 ms (missed cycles : 4).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOobjective_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 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.09sERRORobjective_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: 1789009091.99188185 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450518 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450518 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789009092.79120636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-10 02:58:12.985] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-10 02:58:12.985] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451751 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451751 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078108 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078108 ms (missed cycles : 3).[0m ×2 + 6.60sINFOros2_control_node[2026-09-10 02:58:15.506] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-10 02:58:15.506] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386440 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386440 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894941 ms (missed cycles : 2).[0m ×2 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036513 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789009104.07393217 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789009104.66298199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789009104.72949409 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698231 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 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: 1789009105.51117969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-10 02:58:25.638] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495842 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902095 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789009107.64130902 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200757 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193376 ms (missed cycles : 3).[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: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.73sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789009109.24610996 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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-10 02:58:29.658] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001273 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903424 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673520 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 6.159663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159663 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712649 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712649 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123047 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123047 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789009162.64660978 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832749 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832749 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789009163.30132484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.60sINFOros2_control_node[2026-09-10 02:59:23.455] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-10 02:59:23.455] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271324 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271324 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_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 + 4.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.95sINFOobjective_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 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766300 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766300 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774851 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774851 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 · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773268 ms (missed cycles : 6).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.201478 ms (missed cycles : 7).[0m ×2 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728900 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789009227.49535751 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982671 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789009228.18657255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (9.06e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-10 03:00:28.403] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711207 ms (missed cycles : 5).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044127 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-10 03:00:35.340] [info] Accepted new action goal ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379732 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913906 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-10 03:00:37.370] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005978 ms (missed cycles : 3).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-10 03:00:38.366] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1789009238.38153934 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789009239.07220483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-10 03:00:39.267] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007270 ms (missed cycles : 4).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444789 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822630 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485187 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485187 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296758 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296758 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704525 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704525 ms (missed cycles : 3).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 2.73sINFOobjective_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 + 2.73sERRORobjective_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: 1789009249.36276150 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265232 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265232 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789009249.96267629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.63sINFOros2_control_node[2026-09-10 03:00:50.262] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-10 03:00:50.262] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223197 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223197 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066448 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066448 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206929 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206929 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793460 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793460 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677026 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677026 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614683 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614683 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789009259.85562229 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789009260.46129370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713496 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713496 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_node[2026-09-10 03:01:00.595] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-10 03:01:00.595] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601123 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601123 ms (missed cycles : 2).[0m ×2 + 4.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447646 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447646 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789009270.87331963 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789009270.87331963 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789009270.87331963 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980071 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789009270.87331963 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.50sINFOobjective_server_nodecaller: ×6 + 3.50sINFOobjective_server_nodetype: 0 ×6 + 3.50sINFOobjective_server_nodename: "" ×6 + 3.50sINFOobjective_server_nodeinstance_id: "" ×6 + 3.50sINFOobjective_server_node ×6 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_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 + 1.34sERRORobjective_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: 1789009270.87331963 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.94sINFOobjective_server_nodecaller: ×6 + 1.94sINFOobjective_server_nodetype: 0 ×6 + 1.94sINFOobjective_server_nodename: "" ×6 + 1.94sINFOobjective_server_nodeinstance_id: "" ×6 + 1.94sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_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 + 1.34sERRORobjective_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: 1789009270.87331963 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.94sINFOobjective_server_nodecaller: ×6 + 1.94sINFOobjective_server_nodetype: 0 ×6 + 1.94sINFOobjective_server_nodename: "" ×6 + 1.94sINFOobjective_server_nodeinstance_id: "" ×6 + 1.94sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866418 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923632 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_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 + 1.34sERRORobjective_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: 1789009270.87331963 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.94sINFOobjective_server_nodecaller: ×6 + 1.94sINFOobjective_server_nodetype: 0 ×6 + 1.94sINFOobjective_server_nodename: "" ×6 + 1.94sINFOobjective_server_nodeinstance_id: "" ×6 + 1.94sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789009271.52000499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.045430 ms (missed cycles : 8).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789009271.61013365 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789009272.20143080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789009272.22356486 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098395 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789009272.94283056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-10 03:01:13.066] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355403 ms (missed cycles : 2).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493481 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289708 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6).[0m ×2 + 0.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_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 + 3.34sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 3.34sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 3.35sERRORobjective_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: 1789009283.36769724 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.92sINFOobjective_server_nodecaller: ×8 + 3.92sINFOobjective_server_nodetype: 0 ×8 + 3.92sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.05sINFOobjective_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 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890034 ms (missed cycles : 6).[0m ×2 + 0.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351578 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808989 ms (missed cycles : 8).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906643 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_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 + 3.34sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Got request to cancel active goal. ×2 + 3.34sINFOros2_control_node[2026-09-10 03:01:23.363] [info] Canceling active goal... ×2 + 3.35sERRORobjective_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: 1789009283.36769724 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.92sINFOobjective_server_nodecaller: ×8 + 3.92sINFOobjective_server_nodetype: 0 ×8 + 3.92sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009283.99125314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269463 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009284.47138214 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789009285.06589317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.05sINFOobjective_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 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789009285.06792974 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179038 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789009285.68753576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789009285.73888516 seconds ×3 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009286.33017731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221230 ms (missed cycles : 3).[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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 40 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-10-02-56-52-887227-c909696bc2e6-7349 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349560 ms (missed cycles : 4). + 0.86sINFOros2_control_node-1process started with pid [7397] ×2 + 0.86sINFOmove_group-9process started with pid [7438] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7439] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7440] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7441] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7442] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7443] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7444] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7445] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7446] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7447] ×2 + 0.86sINFOweb_bridge-19process started with pid [7448] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7522] ×2 + 0.86sINFOvideo_server-21process started with pid [7523] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7524] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7526] ×2 + 0.87sINFOros2-2process started with pid [7398] ×2 + 0.87sINFOros2-3process started with pid [7399] ×2 + 0.87sINFOros2-4process started with pid [7411] ×2 + 0.87sINFOros2-5process started with pid [7412] ×2 + 0.87sINFOros2-6process started with pid [7413] ×2 + 0.87sINFOros2-7process started with pid [7414] ×2 + 0.87sINFOros2-8process started with pid [7415] ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349560 ms (missed cycles : 4).[0m ×2 + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF configuration loaded from /tmp/moveit-webrtc-evavzdpe/mediamtx.yml ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.49sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.96sINFOros2_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 + 1.96sINFOros2_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 + 2.09sINFOwaypoint_manager_node[2026-09-10 02:56:55.352] [moveit_pro_license] [info] ×2 + 2.09sINFOwaypoint_manager_node************************************************* ×4 + 2.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOmove_group[2026-09-10 02:56:55.364] [moveit_pro_license] [info] ×2 + 2.09sINFOmove_group************************************************* ×4 + 2.09sINFOmove_group* MoveIt Pro License ×2 + 2.09sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063159 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063159 ms (missed cycles : 2).[0m ×2 + 2.18sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.51sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.51sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.64sINFOmove_group ×4 + 2.64sINFOmove_group[92mYou can start planning now![0m ×2 + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.45sINFOobjective_server_node[2026-09-10 02:56:56.725] [moveit_pro_license] [info] ×2 + 3.45sINFOobjective_server_node************************************************* ×4 + 3.45sINFOobjective_server_node* MoveIt Pro License ×2 + 3.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.59sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.98sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.99sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.99sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.99sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.99sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.99sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.99sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.99sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.99sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.99sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.99sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.99sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.99sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.99sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.99sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.99sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.99sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.99sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.99sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.99sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.99sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.99sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.99sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.99sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.99sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.99sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.99sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.99sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.99sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.99sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.99sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.00sINFOcomponent_container_mt[2026-09-10 02:56:57.271] [moveit_pro_license] [info] ×2 + 4.00sINFOcomponent_container_mt************************************************* ×4 + 4.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 4.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 4.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.03sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.03sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.03sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331727 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331727 ms (missed cycles : 4).[0m ×2 + 4.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.10sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.10sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 4.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 4.35sINFOros2-3process has finished cleanly [pid 7399] ×2 + 4.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.38sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.54sINFOros2_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 + 4.54sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.54sWARNros2_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 + 4.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.71sINFOros2-4process has finished cleanly [pid 7411] ×2 + 4.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 4.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 4.79sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.79sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.80sINFOros2_control_node[2026-09-10 02:56:58.069] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.80sINFOros2_control_node[2026-09-10 02:56:58.069] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.82sINFOros2_control_node[2026-09-10 02:56:58.096] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.82sINFOros2_control_node[2026-09-10 02:56:58.096] [info] Controller state will be published at 50 Hz. ×2 + 4.83sINFOros2_control_node[2026-09-10 02:56:58.104] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894471 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894471 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 5.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 5.17sINFOros2-6process has finished cleanly [pid 7413] ×2 + 5.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.20sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.55sINFOros2-5process has finished cleanly [pid 7412] ×2 + 5.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 5.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 5.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.66sINFOros2_control_node[2026-09-10 02:56:58.931] [info] Controller state will be published at 10 Hz. ×2 + 5.66sINFOros2_control_node[2026-09-10 02:56:58.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.70sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.95sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.95sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 6.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 6.02sINFOros2-7process has finished cleanly [pid 7414] ×2 + 6.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.08sINFOros2_control_node[2026-09-10 02:56:59.352] [info] Controller state will be published at 20 Hz. ×2 + 6.08sINFOros2_control_node[2026-09-10 02:56:59.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.44sINFOros2-8process has finished cleanly [pid 7415] ×2 + 6.47sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.47sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.47sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.47sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.48sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 6.48sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 6.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.52sINFOforce_torque_sensor_broadcasterconfigure successful + 6.52sINFOros2_control_nodeconfigure successful[0m ×2 + 6.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.52sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.52sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.68sINFOobjective_server_nodecaller: ×10 + 6.68sINFOobjective_server_nodetype: 0 ×10 + 6.68sINFOobjective_server_nodename: "" ×10 + 6.68sINFOobjective_server_nodeinstance_id: "" ×10 + 6.68sINFOobjective_server_node ×10 + 6.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 6.85sINFOros2-2process has finished cleanly [pid 7398] ×2 + 7.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodeCamera render tick took 1.84 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 + 8.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 9.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 9.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 10.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7398] ×2 + 0.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.43sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.43sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.43sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.43sINFOobjective_server_nodecaller: ×12 + 0.43sINFOobjective_server_nodetype: 0 ×12 + 0.43sINFOobjective_server_nodename: "" ×12 + 0.43sINFOobjective_server_nodeinstance_id: "" ×12 + 0.43sINFOobjective_server_node ×12 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 1.43sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.15sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 7.16sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.67sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 7.67sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 414 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7415] ×2 + 0.16sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.16sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.16sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.16sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.16sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.20sINFOforce_torque_sensor_broadcasterconfigure successful + 0.20sINFOros2_control_nodeconfigure successful[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.36sINFOobjective_server_nodecaller: ×14 + 0.36sINFOobjective_server_nodetype: 0 ×14 + 0.36sINFOobjective_server_nodename: "" ×14 + 0.36sINFOobjective_server_nodeinstance_id: "" ×14 + 0.36sINFOobjective_server_node ×14 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 0.54sINFOros2-2process has finished cleanly [pid 7398] ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-10-02-56-52-887227-c909696bc2e6-7349 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349560 ms (missed cycles : 4). + 0.86sINFOros2_control_node-1process started with pid [7397] ×2 + 0.86sINFOmove_group-9process started with pid [7438] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7439] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7440] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7441] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7442] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7443] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7444] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7445] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7446] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7447] ×2 + 0.86sINFOweb_bridge-19process started with pid [7448] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7522] ×2 + 0.86sINFOvideo_server-21process started with pid [7523] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7524] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7526] ×2 + 0.87sINFOros2-2process started with pid [7398] ×2 + 0.87sINFOros2-3process started with pid [7399] ×2 + 0.87sINFOros2-4process started with pid [7411] ×2 + 0.87sINFOros2-5process started with pid [7412] ×2 + 0.87sINFOros2-6process started with pid [7413] ×2 + 0.87sINFOros2-7process started with pid [7414] ×2 + 0.87sINFOros2-8process started with pid [7415] ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349560 ms (missed cycles : 4).[0m ×2 + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF configuration loaded from /tmp/moveit-webrtc-evavzdpe/mediamtx.yml ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.16sINFOvideo_server2026/09/10 02:56:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.49sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.96sINFOros2_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 + 1.96sINFOros2_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 + 2.09sINFOwaypoint_manager_node[2026-09-10 02:56:55.352] [moveit_pro_license] [info] ×2 + 2.09sINFOwaypoint_manager_node************************************************* ×4 + 2.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOmove_group[2026-09-10 02:56:55.364] [moveit_pro_license] [info] ×2 + 2.09sINFOmove_group************************************************* ×4 + 2.09sINFOmove_group* MoveIt Pro License ×2 + 2.09sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063159 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063159 ms (missed cycles : 2).[0m ×2 + 2.18sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.51sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.51sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.64sINFOmove_group ×4 + 2.64sINFOmove_group[92mYou can start planning now![0m ×2 + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.45sINFOobjective_server_node[2026-09-10 02:56:56.725] [moveit_pro_license] [info] ×2 + 3.45sINFOobjective_server_node************************************************* ×4 + 3.45sINFOobjective_server_node* MoveIt Pro License ×2 + 3.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.59sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sINFOros2-5process has finished cleanly [pid 7412] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.931] [info] Controller state will be published at 10 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7414] ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.352] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7415] ×2 + 0.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 1.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.03sINFOforce_torque_sensor_broadcasterconfigure successful + 1.03sINFOros2_control_nodeconfigure successful[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 1.37sINFOros2-2process has finished cleanly [pid 7398] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sINFOros2-5process has finished cleanly [pid 7412] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.931] [info] Controller state will be published at 10 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7414] ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.352] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7415] ×2 + 0.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 1.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.03sINFOforce_torque_sensor_broadcasterconfigure successful + 1.03sINFOros2_control_nodeconfigure successful[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 1.37sINFOros2-2process has finished cleanly [pid 7398] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sINFOros2-5process has finished cleanly [pid 7412] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.931] [info] Controller state will be published at 10 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-10 02:56:58.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.53sINFOros2-7process has finished cleanly [pid 7414] ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.352] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-10 02:56:59.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7415] ×2 + 0.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 1.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.03sINFOforce_torque_sensor_broadcasterconfigure successful + 1.03sINFOros2_control_nodeconfigure successful[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 1.37sINFOros2-2process has finished cleanly [pid 7398] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 414 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7415] ×2 + 0.16sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.16sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.16sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.16sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea + 0.16sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_f1z_8frv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wgbxnyr_ --params-file /tmp/launch_params_x_gz00ea [0m ×2 + 0.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.20sINFOforce_torque_sensor_broadcasterconfigure successful + 0.20sINFOros2_control_nodeconfigure successful[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.36sINFOobjective_server_nodecaller: ×14 + 0.36sINFOobjective_server_nodetype: 0 ×14 + 0.36sINFOobjective_server_nodename: "" ×14 + 0.36sINFOobjective_server_nodeinstance_id: "" ×14 + 0.36sINFOobjective_server_node ×14 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009020.00705218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009020.01733327 seconds ×3 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824148 ms (missed cycles : 3).[0m ×2 + 0.54sINFOros2-2process has finished cleanly [pid 7398] ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7398] ×2 + 0.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.43sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.43sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.43sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.43sINFOobjective_server_nodecaller: ×12 + 0.43sINFOobjective_server_nodetype: 0 ×12 + 0.43sINFOobjective_server_nodename: "" ×12 + 0.43sINFOobjective_server_nodeinstance_id: "" ×12 + 0.43sINFOobjective_server_node ×12 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789009020.60878634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 1.43sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.15sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − 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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [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 2.482709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482709 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789009021.71896935 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792871 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789009022.34136343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789009022.40155935 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009023.06212997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009023.08225656 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174817 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009023.67394876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009023.82455349 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009024.51379371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021151 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009024.55392575 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789009025.15193939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.4361e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-10 02:57:05.278] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764206 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179628 ms (missed cycles : 3).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913339 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-10 02:57:07.796] [info] Accepted new action goal ×2 | ||||